U.S. patent application number 15/593581 was filed with the patent office on 2017-11-16 for control device mounted on vehicle and method for controlling the same.
The applicant listed for this patent is LG ELECTRONICS INC.. Invention is credited to Wonseok YOO.
Application Number | 20170330464 15/593581 |
Document ID | / |
Family ID | 58669744 |
Filed Date | 2017-11-16 |
United States Patent
Application |
20170330464 |
Kind Code |
A1 |
YOO; Wonseok |
November 16, 2017 |
Control Device Mounted On Vehicle And Method For Controlling The
Same
Abstract
A control device includes a brake apparatus configured to
operate a braking function of a vehicle and at least one rear lamp
configured to output visible light to a rear of the vehicle at
least in response to an operation of the brake apparatus. The
control device also includes a sensing unit configured to sense
information related to at least one of the vehicle or a surrounding
of the vehicle, and at least one processor. The at least one
processor is configured to, based on the information sensed through
the sensing unit corresponding to a preset condition and a first
vehicle being sensed at the rear of the vehicle, control the at
least one rear lamp to output the visible light to the rear of the
vehicle in a state in which the brake apparatus is not
operated.
Inventors: |
YOO; Wonseok; (Seoul,
KR) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
LG ELECTRONICS INC. |
Seoul |
|
KR |
|
|
Family ID: |
58669744 |
Appl. No.: |
15/593581 |
Filed: |
May 12, 2017 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B60T 7/22 20130101; B60Q
1/44 20130101; B60Q 1/444 20130101; B60Q 1/30 20130101; B60Q 1/525
20130101; G08G 1/166 20130101 |
International
Class: |
G08G 1/16 20060101
G08G001/16; B60Q 1/30 20060101 B60Q001/30; B60Q 1/44 20060101
B60Q001/44; B60T 7/22 20060101 B60T007/22 |
Foreign Application Data
Date |
Code |
Application Number |
May 12, 2016 |
KR |
10-2016-0058233 |
Claims
1. A control device comprising: a brake apparatus configured to
operate a braking function of a vehicle; at least one rear lamp
configured to output visible light to a rear of the vehicle at
least in response to an operation of the brake apparatus; a sensing
unit configured to sense information related to at least one of the
vehicle or a surrounding of the vehicle; and at least one processor
configured to: based on the information sensed through the sensing
unit corresponding to a preset condition and a first vehicle being
sensed at the rear of the vehicle, control the at least one rear
lamp to output the visible light to the rear of the vehicle in a
state in which the brake apparatus is not operated.
2. The control device of claim 1, wherein the at least one
processor is further configured to, in the state in which the brake
apparatus is not operated, control the at least one rear lamp to
change the output of the visible light based on a change in the
information sensed through the sensing unit.
3. The control device of claim 2, wherein the at least one
processor is further configured to: control the at least one rear
lamp to output the visible light in a first manner based on the
information sensed through the sensing unit corresponding to a
first condition as the preset condition, and control the at least
one rear lamp to output the visible light in a second manner,
different from the first manner, based on the information sensed
through the sensing unit corresponding to a second condition as the
preset condition, different from the first condition.
4. The control device of claim 1, wherein the at least one
processor is further configured to, based on a probability of
collision with the first vehicle sensed at the rear of the vehicle
exceeding a reference value, control the at least one rear lamp to
output the visible light in the state in which the brake apparatus
is not operated.
5. The control device of claim 4, wherein the at least one
processor is configured to, based on the probability of collision
with the first vehicle sensed at the rear of the vehicle exceeding
the reference value, control the at least one rear lamp to output
the visible light in the state in which the brake apparatus is not
operated by: controlling, based on the value of the probability of
collision with the first vehicle, at least one of an emission angle
of visible light of the at least one rear lamp, an emission time
point of the at least one rear lamp, a brightness of emitted light
from the at least one rear lamp, an emission period of the at least
one rear lamp, an emitting direction of the at least one rear lamp,
or a color of emitted light from the at least one rear lamp.
6. The control device of claim 5, wherein the at least one
processor is further configured to: control the at least one rear
lamp to output the visible light at a first emission time point
based on the probability of collision with the first vehicle being
a first value, and control the at least one rear lamp to output the
visible light at a second emission time point that is earlier than
the first emission time point based on the probability of collision
with the first vehicle being a second value that is greater than
the first value.
7. The control device of claim 5, wherein the at least one
processor is further configured to: control the at least one rear
lamp to output the visible light with a first brightness based on
the probability of collision with the first vehicle being a first
value, and control the at least one rear lamp to output the visible
light with a second brightness that is greater than the first
brightness based on the probability of collision with the first
vehicle being a second value greater than the first value.
8. The control device of claim 4, wherein the at least one
processor is further configured to: calculate a relative distance
and a relative speed with the first vehicle through the sensing
unit, and determine a time to collision (TTC) based on the
calculated relative distance and the calculated relative speed,
wherein the probability of collision with the first vehicle is
determined based on the determined time to collision.
9. The control device of claim 1, wherein the at least one
processor is configured to, in the state in which the brake
apparatus is not operated, control the at least one rear lamp to
output the visible light based on at least one other vehicle being
sensed at both of a front side and a rear side of the vehicle.
10. The control device of claim 9, wherein the at least one
processor is further configured to determine whether to control the
at least one rear lamp to output the visible light in the state in
which the brake apparatus is not operated based on a first
probability of collision with the first vehicle sensed at the rear
of the vehicle and a second probability of collision with a second
vehicle sensed at the front of the vehicle.
11. The control device of claim 10, wherein the at least one
processor is configured to control the at least one rear lamp to
output the visible light in the state in which the brake apparatus
is not operated, irrespective of the first probability of collision
with the first vehicle sensed at the rear of the vehicle, based on
the second probability of collision with the second vehicle sensed
at the front of the vehicle exceeding a reference value.
12. The control device of claim 10, wherein the at least one
processor is configured to control the at least one rear lamp to
output the visible light in the state in which the brake apparatus
is not operated, based on sensing through the sensing unit that
light is output from the second vehicle sensed at the front of the
vehicle and based on a distance from the first vehicle sensed at
the rear of the vehicle being within a reference distance.
13. The control device of claim 10, wherein the at least one
processor is further configured to: generate a forward collision
warning based on the second probability of collision with the
second vehicle sensed at the front of the vehicle corresponding to
a first value, and perform an automatic emergency braking based on
the second probability of collision corresponding to a second value
greater than the first value, wherein the at least one rear lamp is
configured to output the visible light in response to the automatic
emergency braking being performed, and wherein the at least one
processor is configured to, in the state in which the brake
apparatus is not operated and based on the first probability of
collision with the first vehicle sensed at the rear of the vehicle
exceeding a reference value, control the at least one rear lamp to
output the visible light at a time point at which the forward
collision warning is generated prior to the automatic emergency
braking is performed.
14. The control device of claim 13, wherein the at least one
processor is configured to, in the state in which the brake
apparatus is not operated and based on the first probability of
collision with the first vehicle sensed at the rear of the vehicle
exceeding the reference value, control the at least one rear lamp
to output the visible light at the time point at which the forward
collision warning is generated by: controlling, based on of the
first probability of collision with the first vehicle sensed at the
rear of the vehicle, at least one of an emission angle of visible
light of the at least one rear lamp, an emission time point of the
at least one rear lamp, a brightness of emitted light of the at
least one rear lamp, an emission period of the at least one rear
lamp, an emitting direction of the at least one rear lamp, or a
color of emitted light of the at least one rear lamp.
15. The control device of claim 1, wherein the at least one
processor is configured to, based on the information sensed through
the sensing unit corresponding to the preset condition and the
first vehicle being sensed at the rear of the vehicle, control the
at least one rear lamp to output the visible light to the rear of
the vehicle by: controlling a brightness of the visible light
output from the at least one rear lamp based on a location of the
first vehicle and based on a location of an external light
source.
16. A vehicle comprising a control device according to claim 1.
17. A method for controlling a vehicle comprising a sensing unit, a
brake apparatus, and at least one rear lamp configured to emit
visible light to a rear of the vehicle in response to an operation
of the brake apparatus, the method comprising: sensing, trough the
sensing unit, information related to at least one of the vehicle or
a surrounding of the vehicle; and controlling the at least one rear
lamp to output visible light to the rear of the vehicle in a state
in which the brake apparatus is not operated based on the
information sensed through the sensing unit corresponding to a
preset condition and a first vehicle being sensed at the rear of
the vehicle.
18. The method of claim 17, wherein controlling the at least one
rear lamp to output the visible light to the rear of the vehicle in
the state in which the brake apparatus is not operated based on the
information sensed through the sensing unit corresponding to the
preset condition and the first vehicle being sensed at the rear of
the vehicle comprises: controlling the at least one rear lamp to
change the output of the visible light based on a change in the
information sensed through the sensing unit.
19. The method of claim 18, wherein controlling the at least one
rear lamp to output the visible light to the rear of the vehicle in
the state in which the brake apparatus is not operated based on the
information sensed through the sensing unit corresponding to the
preset condition and the first vehicle being sensed at the rear of
the vehicle comprises: controlling the at least one rear lamp to
output the visible light in a first manner based on the information
sensed through the sensing unit corresponding to a first condition
as the preset condition, and controlling the at least one rear lamp
to output the visible light in a second manner, different from the
first manner, based on the information sensed through the sensing
unit corresponding to a second condition different from the first
condition.
20. The control device of claim 17, wherein controlling the at
least one rear lamp to output the visible light to the rear of the
vehicle in the state in which the brake apparatus is not operated
based on the information sensed through the sensing unit
corresponding to the preset condition and the first vehicle being
sensed at the rear of the vehicle comprises: controlling the at
least one rear lamp to output the visible light, in the state in
which the brake apparatus is not operated, based on at least one
other vehicle being sensed at both of a front side and a rear side
of the vehicle.
Description
CROSS-REFERENCE TO RELATED APPLICATION
[0001] Pursuant to 35 U.S.C. .sctn.119(a), this application claims
the benefit of an earlier filing date of and the right of priority
to Korean Application No. 10-2016-0058233, filed on May 12, 2016,
the contents of which are incorporated by reference herein in its
entirety.
TECHNICAL FIELD
[0002] This disclosure relates to a control device mounted on a
vehicle and a method for controlling the same.
BACKGROUND
[0003] A vehicle is an apparatus designed to move a user in a
user-desired direction. An example of a vehicle is a car.
[0004] A vehicle is typically provided with various types of
lighting devices, or lamps. In general, a vehicle includes various
vehicle lamps having a lighting function that facilitates the
recognition of articles or objects near the vehicle during driving
at night, as well as signaling functions that notify those outside
the vehicle of a driving state of the vehicle.
[0005] For example, a vehicle may include lighting devices that
emit light using lamps, such as a headlamp emitting light to a
front side of the vehicle to facilitate a driver's view, a brake
lamp that illuminates based on operation of a brake of the vehicle,
or a turn indicator lamp that indicates a left turn or a right turn
of the vehicle.
[0006] As another example of lighting devices, a vehicle typically
includes reflectors mounted on front and rear sides of the vehicle
that reflect light and facilitate recognition of the vehicle from
outside.
SUMMARY
[0007] Implementations described herein provide a control device
and control technique that controls at least one rear lamp of a
vehicle based on information sensed through a sensing unit of the
vehicle.
[0008] In one aspect, a control device may include a brake
apparatus configured to operate a braking function of a vehicle,
and at least one rear lamp configured to to output visible light to
a rear of the vehicle at least in response to an operation of the
brake apparatus. The control device may also include a sensing unit
configured to sense information related to at least one of the
vehicle or a surrounding of the vehicle, and at least one
processor. The at least one processor may be configured to, based
on the information sensed through the sensing unit corresponding to
a preset condition and a first vehicle being sensed at the rear of
the vehicle, control the at least one rear lamp to output the
visible light to the rear of the vehicle in a state in which the
brake apparatus is not operated.
[0009] In some implementations, the at least one processor may be
further configured to, in the state in which the brake apparatus is
not operated, control the at least one rear lamp to change the
output of the visible light based on a change in the information
sensed through the sensing unit.
[0010] In some implementations, the at least one processor may be
further configured to control the at least one rear lamp to output
the visible light in a first manner based on the information sensed
through the sensing unit corresponding to a first condition as the
preset condition, and control the at least one rear lamp to output
the visible light in a second manner, different from the first
manner, based on the information sensed through the sensing unit
corresponding to a second condition as the preset condition,
different from the first condition.
[0011] In some implementations, the at least one processor may be
further configured to, based on a probability of collision with the
first vehicle sensed at the rear of the vehicle exceeding a
reference value, control the at least one rear lamp to output the
visible light in the state in which the brake apparatus is not
operated.
[0012] In some implementations, the at least one processor may be
configured to, based on the probability of collision with the first
vehicle sensed at the rear of the vehicle exceeding the reference
value, control the at least one rear lamp to output the visible
light in the state in which the brake apparatus is not operated by
controlling, based on the value of the probability of collision
with the first vehicle, at least one of an emission angle of
visible light of the at least one rear lamp, an emission time point
of the at least one rear lamp, a brightness of emitted light from
the at least one rear lamp, an emission period of the at least one
rear lamp, an emitting direction of the at least one rear lamp, or
a color of emitted light from the at least one rear lamp.
[0013] In some implementations, the at least one processor may be
further configured to control the at least one rear lamp to output
the visible light at a first emission time point based on the
probability of collision with the first vehicle being a first
value, and control the at least one rear lamp to output the visible
light at a second emission time point that is earlier than the
first emission time point based on the probability of collision
with the first vehicle being a second value that is greater than
the first value.
[0014] In some implementations, the at least one processor may be
further configured to control the at least one rear lamp to output
the visible light with a first brightness based on the probability
of collision with the first vehicle being a first value, and
control the at least one rear lamp to output the visible light with
a second brightness that is greater than the first brightness based
on the probability of collision with the first vehicle being a
second value greater than the first value.
[0015] In some implementations, the at least one processor may be
further configured to calculate a relative distance and a relative
speed with the first vehicle through the sensing unit, and
determine a time to collision (TTC) based on the calculated
relative distance and the calculated relative speed. The
probability of collision with the first vehicle may be determined
based on the determined time to collision.
[0016] In some implementations, the at least one processor may be
configured to, in the state in which the brake apparatus is not
operated, control the at least one rear lamp to output the visible
light based on at least one other vehicle being sensed at both of a
front side and a rear side of the vehicle.
[0017] In some implementations, the at least one processor may be
further configured to determine whether to control the at least one
rear lamp to output the visible light in the state in which the
brake apparatus is not operated based on a first probability of
collision with the first vehicle sensed at the rear of the vehicle
and a second probability of collision with a second vehicle sensed
at the front of the vehicle.
[0018] In some implementations, the at least one processor may be
configured to control the at least one rear lamp to output the
visible light in the state in which the brake apparatus is not
operated, irrespective of the first probability of collision with
the first vehicle sensed at the rear of the vehicle, based on the
second probability of collision with the second vehicle sensed at
the front of the vehicle exceeding a reference value.
[0019] In some implementations, the at least one processor may be
configured to control the at least one rear lamp to output the
visible light in the state in which the brake apparatus is not
operated, based on sensing through the sensing unit that light is
output from the second vehicle sensed at the front of the vehicle
and based on a distance from the first vehicle sensed at the rear
of the vehicle being within a reference distance.
[0020] In some implementations, the at least one processor may be
further configured to generate a forward collision warning based on
the second probability of collision with the second vehicle sensed
at the front of the vehicle corresponding to a first value, and
perform an automatic emergency braking based on the second
probability of collision corresponding to a second value greater
than the first value. The at least one rear lamp may be configured
to output the visible light in response to the automatic emergency
braking being performed, and the at least one processor may be
configured to, in the state in which the brake apparatus is not
operated and based on the first probability of collision with the
first vehicle sensed at the rear of the vehicle exceeding a
reference value, control the at least one rear lamp to output the
visible light at a time point at which the forward collision
warning is generated prior to the automatic emergency braking is
performed.
[0021] In some implementations, the at least one processor may be
configured to, in the state in which the brake apparatus is not
operated and based on the first probability of collision with the
first vehicle sensed at the rear of the vehicle exceeding the
reference value, control the at least one rear lamp to output the
visible light at the time point at which the forward collision
warning is generated by controlling, based on of the first
probability of collision with the first vehicle sensed at the rear
of the vehicle, at least one of an emission angle of visible light
of the at least one rear lamp, an emission time point of the at
least one rear lamp, a brightness of emitted light of the at least
one rear lamp, an emission period of the at least one rear lamp, an
emitting direction of the at least one rear lamp, or a color of
emitted light of the at least one rear lamp.
[0022] In some implementations, the at least one processor may be
configured to, based on the information sensed through the sensing
unit corresponding to the preset condition and the first vehicle
being sensed at the rear of the vehicle, control the at least one
rear lamp to output the visible light to the rear of the vehicle by
controlling a brightness of the visible light output from the at
least one rear lamp based on a location of the first vehicle and
based on a location of an external light source.
[0023] In another aspect, a vehicle may include a control device
according one or more implementations described above.
[0024] In another aspect, a method for controlling a vehicle that
includes a sensing unit, a brake apparatus, and at least one rear
lamp configured to emit visible light to a rear of the vehicle in
response to an operation of the brake apparatus may include
sensing, trough the sensing unit, information related to at least
one of the vehicle or a surrounding of the vehicle; and controlling
the at least one rear lamp to output visible light to the rear of
the vehicle in a state in which the brake apparatus is not operated
based on the information sensed through the sensing unit
corresponding to a preset condition and a first vehicle being
sensed at the rear of the vehicle.
[0025] In some implementations, controlling the at least one rear
lamp to output the visible light to the rear of the vehicle in the
state in which the brake apparatus is not operated based on the
information sensed through the sensing unit corresponding to the
preset condition and the first vehicle being sensed at the rear of
the vehicle may include: controlling the at least one rear lamp to
change the output of the visible light based on a change in the
information sensed through the sensing unit.
[0026] In some implementations, controlling the at least one rear
lamp to output the visible light to the rear of the vehicle in the
state in which the brake apparatus is not operated based on the
information sensed through the sensing unit corresponding to the
preset condition and the first vehicle being sensed at the rear of
the vehicle may include: controlling the at least one rear lamp to
output the visible light in a first manner based on the information
sensed through the sensing unit corresponding to a first condition
as the preset condition, and controlling the at least one rear lamp
to output the visible light in a second manner, different from the
first manner, based on the information sensed through the sensing
unit corresponding to a second condition different from the first
condition.
[0027] In some implementations, controlling the at least one rear
lamp to output the visible light to the rear of the vehicle in the
state in which the brake apparatus is not operated based on the
information sensed through the sensing unit corresponding to the
preset condition and the first vehicle being sensed at the rear of
the vehicle may include: controlling the at least one rear lamp to
output the visible light, in the state in which the brake apparatus
is not operated, based on at least one other vehicle being sensed
at both of a front side and a rear side of the vehicle.
[0028] Further scope of applicability of the present disclosure
will become more apparent from the detailed description given
hereinafter. However, it should be understood that the detailed
description and specific examples are given by way of illustration
only, and that various changes and modifications within the spirit
and scope of the disclosure may be made.
BRIEF DESCRIPTION OF THE DRAWINGS
[0029] FIG. 1 is a diagram illustrating an example of a vehicle in
accordance with some implementations;
[0030] FIGS. 2A to 2C are diagrams illustrating various examples of
a camera module included in a control device of a vehicle according
to some implementations;
[0031] FIG. 3 is a block diagram illustrating an example of a
vehicle in accordance with some implementations;
[0032] FIG. 4 is a block diagram illustrating an example of a
control device of a vehicle in accordance with some
implementations;
[0033] FIG. 5 is a diagram illustrating an example of lamps and a
brake apparatus provided on a vehicle in accordance with some
implementations;
[0034] FIG. 6 is a flowchart illustrating an example of a control
process in accordance with some implementations;
[0035] FIG. 7 is a diagram illustrating examples of the control of
FIG. 6;
[0036] FIG. 8 is a flowchart illustrating an example of controlling
rear lamps of a vehicle in accordance with some
implementations;
[0037] FIGS. 9A and 9B are diagrams illustrating examples of the
control of FIG. 8;
[0038] FIGS. 10 and 11 are diagrams illustrating examples of
controlling a vehicle according to one implementation;
[0039] FIGS. 12, 13, and 14 are diagrams illustrating examples of
controlling rear lamps, considering other vehicles both ahead of
and behind the vehicle, in accordance with some implementations;
and
[0040] FIG. 15 is a diagram illustrating examples of controlling
rear lamps of a vehicle based on an external light source in
accordance with some implementations.
DETAILED DESCRIPTION
[0041] A vehicle may include one or more systems, such as an
advanced deriving assist system (ADAS), designed to improve
convenience and safety while driving a vehicle. In some scenarios,
such systems may control one or more components of a vehicle based
on information that is sensed inside or outside the vehicle.
[0042] Implementations described herein provide a technology that
improves safety in driving of a vehicle by controlling one or more
lighting devices, or lamps, of a vehicle.
[0043] In some implementations, a control device mounted on a
vehicle is configured to control an emission of light to a rear
side of a vehicle based on information that is sensed inside or
outside the vehicle, even when a brake apparatus of the vehicle is
not operated. Such implementations may serve various functions. For
example, in some scenarios, such a control device may help prevent
collisions by proactively illuminating a rear lamp of the vehicle
to warn other vehicles of impending dangerous conditions, even if a
braking apparatus of the vehicle is not actively engaged. The
control device may also be configured to emit visible light to a
rear side of the vehicle in an improved or optimized manner even
while a brake apparatus is not activated.
[0044] Therefore, implementations described herein provide a
control device mounted on a vehicle that is configured to control
lamps provided on the vehicle in an improved or optimized manner,
and a method for controlling the same.
[0045] In accordance with some implementations, at least one of the
following effects may be achieved in some scenarios.
[0046] For example, some implementations may provide a control
method configured to help prevent a rear-end collision by warning a
rear vehicle by controlling rear lamps to emit light even though a
brake apparatus is not operated.
[0047] As another example, some implementations may provide rear
lamps which may be controlled to output visible light in various
manners such that a danger may be notified to a rear vehicle in an
improved, optimized, or intuitive manner, and a control device that
controls the rear lamps.
[0048] As another example, some implementations may provide rear
lamps, which enable other vehicles to more intuitively recognize a
state of the vehicle or a relationship with the vehicle, by being
controlled to output visible light in a different manner according
to a type of a condition, such as a preset condition, associated
with the emission of the visible light, even without an operation
of a brake apparatus, and a control device controlling the rear
lamps.
[0049] As another example, some implementations may warn a rear
vehicle of a risk by activating rear lamps even without an
operation of a brake apparatus, when collision probability with the
rear vehicle exceeds a reference value.
[0050] As another example, some implementations may warn a driver
of a rear vehicle in an improved or optimized manner and thus may
enhance accident prevention by controlling rear lamps in various,
manners based on collision probability exceeding a reference
value.
[0051] As another example, some implementations may provide a
control method that helps prevent a chain collision by controlling
rear lamps to output light even without an operation of a brake
apparatus, irrespective of collision probability with a first
vehicle sensed at a rear of a vehicle disclosed herein, when
collision probability with the a vehicle exceeds a reference
value.
[0052] As another example, some implementations may mitigate
accident occurrences by warning a driver of a rear vehicle before a
brake apparatus is operated, when brake lamps of a front vehicle
sensed at a front of a vehicle are turned on and the rear vehicle
sensed at a rear of the vehicle is within a reference distance.
[0053] As another example, some implementations may provide a
control device that warns a risk to a driver of a rear vehicle in
advance or at a particular time point by controlling rear lamps to
output light even without an operation of a brake apparatus at a
generation time point of a forward collision warning (FCW), when
collision probability with the rear vehicle exceeds a reference
value. The threshold collision probability at which the rear lamp
outputs light may be lower than a threshold collision probably at
which automatic emergency braking is performed.
[0054] As another example, some implementations may provide a
control method that controls rear lamps to output visible light in
an improved or optimized manner, considering a surrounding
environment, when the rear lamps emit light even without an
operation of a brake apparatus.
[0055] A vehicle according to some implementations may include
cars, motorcycles and the like. Hereinafter, the vehicle will be
described based on a car.
[0056] The vehicle according to some implementations may be powered
by any suitable power source, and may include, for example, an
internal combustion engine car having an engine as a power source,
a hybrid vehicle having an engine and an electric motor as power
sources, an electric vehicle having an electric motor as a power
source, and the like.
[0057] The vehicle according to some implementations may be an
autonomous vehicle.
[0058] As described herein, a left side of a vehicle refers to a
left side in a driving direction of the vehicle, and a right side
of the vehicle refers to a right side in the driving direction. A
front side of the vehicle refers to a forward driving direction,
and a rear side refers to a backward driving direction.
[0059] FIG. 1 is a diagram illustrating an example of a vehicle in
accordance with some implementations.
[0060] As illustrated in FIG. 1, a vehicle 700 may include wheels
103FR, 103FL, 103RL, . . . , which turn by a power source, and a
steering apparatus for adjusting a driving direction of the vehicle
700.
[0061] The steering apparatus may include a steering wheel. A user
may decide a driving direction of the vehicle 700 using the
steering wheel.
[0062] A steering input received through the steering apparatus may
be transferred to the steering wheel.
[0063] The steering apparatus and the steering wheel may be
connected to each other electrically or mechanically.
[0064] The steering wheels may preferably be the front wheels 103FL
and 103FR, but alternatively all of the front wheels 103FL and
103FR and the rear wheels 103RR may operate as the steering
wheels.
[0065] FIGS. 2A to 2C are diagrams illustrating various examples of
a camera module included in a control device according to some
implementations.
[0066] As illustrated in FIG. 2A, a camera unit 200a may include an
image sensor (e.g., CCD or CMOS), a lens 203, and a light shield
202 for shielding a part of light incident on the lens 203.
[0067] The camera unit 200a may have a structure which is
attachable on or detachable from an inner ceiling or a wind shield
of the vehicle 700.
[0068] The camera unit 200a may acquire surrounding images of the
vehicle 700. For example, the camera unit 200a may acquire front or
rear images of the vehicle 700. The images acquired through the
camera unit 200a may be transmitted to an image processor.
[0069] Meanwhile, the image acquired through the camera unit 200a
may be referred to as a mono image. Also, the camera unit 200a
described with reference to FIG. 2A may be referred to as a mono
camera unit or a single camera unit.
[0070] Referring to FIG. 2B, a camera unit 200b may include a first
camera 211a and a second camera 211b. The first camera 211a may
include a first image sensor CCD or CMOS) and a first lens 213a.
The second camera 211b may include a second image sensor (e.g., CCD
or CMOS) and a second lens 213b.
[0071] Meanwhile, the camera unit 200b may include a first light
shield 212a and a second light shield 212b for partially shielding
light incident on the first lens 213a and the second lens 213b.
[0072] Meanwhile, the camera unit 200b may have a structure which
is attachable on or detachable from an inner ceiling or a wind
shield of the vehicle 700.
[0073] The camera unit 200b may acquire surrounding images of the
vehicle 700. For example, the camera unit 200b may acquire front or
rear images of the vehicle 700. The images acquired through the
camera unit 200b may be transmitted to an image processor.
[0074] Meanwhile, the images acquired through the first camera 211a
and the second camera 211b may be referred to as stereo images.
[0075] The camera unit 200b described with reference to FIG. 2B may
be referred to as a stereo camera unit.
[0076] Referring to FIG. 2C, a camera unit 200c may include a
plurality of cameras 221a, 221b 221c and 221d.
[0077] For example, the left camera 221a may be disposed within a
case surrounding a left side mirror. The right camera 221c may be
disposed within a case surrounding a right side mirror. The front
camera 221d may be disposed on one area of a front bumper, and the
rear camera 221b may be disposed on one area of a trunk lid.
[0078] The plurality of cameras 221a, 221b, 221c and 221d may be
disposed on the left side, the rear side, the right side and the
front side of the vehicle, respectively. Each of the plurality of
cameras 221a, 221b, 221c and 221d may include an image sensor
(e.g., CCD or CMOS) and a lens.
[0079] The camera unit 200c may acquire surrounding images of the
vehicle. For example, the camera unit 200c may acquire front, rear,
left and right images of the vehicle. The images acquired through
the camera unit 200c may be transmitted to an image processor.
[0080] Meanwhile, the images acquired through the plurality of
cameras 221a, 221b, 221c and 221d of FIG. 2C or a merged image of
the acquired images may be referred to as an around view image.
Also, the camera unit 200c described with reference to FIG. 2C may
be referred to as an around view camera unit.
[0081] FIG. 3 is a block diagram illustrating a vehicle 700 in
accordance with some implementations.
[0082] As illustrated in FIG. 3, the vehicle 700 may include a
communication unit 710, an input unit 720, a sensing unit 760, an
output unit 740, a vehicle operating unit 750, a memory 730, an
interface unit 780, a controller 770, a power supply unit 790, a
control device 100, a driver status monitoring (DSM) system, and a
vehicle display device 400.
[0083] The communicating unit 710 may include at least one module
allowing wireless communications between the vehicle 700 and a
mobile terminal 600, between the vehicle 700 and an external server
601 or between the vehicle 700 and another vehicle 602. Also, the
communication unit 710 may include at least one module connecting
the vehicle 700 to at least one network.
[0084] The communication unit 710 may include a broadcast receiving
module 711, a wireless Internet module 712, a short-range
communication module 713, a location information module 714, an
optical communication module 715, and a V2X communication module
716.
[0085] The communication unit 710 may receive various types of
information related to the vehicle, and may receive this
information from various sources.
[0086] For example, the communication unit 710 may receive weather
information. The communication unit 710 may receive the weather
information from the outside through the broadcast receiving module
711, the wireless Internet module 712 or the V2X communication
module 716.
[0087] As another example, the communication unit 710 may receive
road information, for example related to the driving of the
vehicle. The communication unit 710 may recognize a location of the
vehicle 700 through the location information module 714, and
receive road information corresponding to the location of the
vehicle 700 through the wireless Internet module 712 or the V2X
communication module 716.
[0088] As another example, the communication unit 710 may receive
traffic light change information from the external server 601
through the V2X communication module 716. Here, the external server
601 may be a server which is located at a traffic control station
which controls traffic conditions.
[0089] The broadcast receiving module 711 receives a broadcast
signal and/or broadcast associated information from an external
broadcast managing entity via a broadcast channel. Here,
broadcasting includes radio broadcasting or TV broadcasting.
[0090] The wireless Internet module 712 refers to a module that is
configured to facilitate wireless Internet access and may be
mounted within the vehicle 700 or detachably coupled to the vehicle
700. The wireless Internet module 712 transmits and/or receives
wireless signals via communication networks according to wireless
Internet technologies.
[0091] Examples of such wireless Internet access include Wireless
LAN (WLAN), Wireless Fidelity (Wi-Fi), Wi-Fi Direct, Digital Living
Network Alliance (DLNA), Wireless Broadband (WiBro), Worldwide
Interoperability for Microwave Access (WiMAX), High Speed Downlink
Packet Access (HSDPA), High Speed Uplink Packet Access (HSDPA),
Long Term Evolution (LTE), LTE-advanced (LTE-A) and the like. The
wireless Internet module 712 transmits/receives data according to
one or more of such wireless Internet technologies, and other
Internet technologies as well. The wireless Internet module 712
receives weather information, road traffic condition information
(e.g., transport protocol expert group (TPEG)) from the external
server 601.
[0092] The short-range communication module 713 facilitates
short-range communications. Suitable technologies for implementing
such short-range communications include BLUETOOTH.TM., Radio
Frequency IDentification (RFID), Infrared Data Association (IrDA),
Ultra-WideBand (UWB), ZigBee, Near Field Communication (NFC),
Wireless-Fidelity (Wi-Fi), Wi-Fi Direct, Wireless USB (Wireless
Universal Serial Bus), and the like.
[0093] The short-range communication module 713 may construct
short-range wireless area networks to support short-range
communications between the vehicle 700 and at least one external
device. For example, the short-range communication module 713 may
exchange data with the mobile terminal 600 in a wireless manner.
The short-range communication module 713 may receive various types
of information, such as weather information, road traffic condition
information (e.g., transport protocol expert group (TPEG)), etc.,
from the mobile terminal 600. If the user gets in the vehicle 700,
the user's mobile terminal 600 and the vehicle 700 may be paired
with each other automatically or by an application executed by the
user.
[0094] The location information module 714 is a module for
acquiring the location of the vehicle 700, and representatively
includes a global positioning system (GPS) module. For example,
when the vehicle uses the GPS module, the location of the vehicle
may be acquired using signals sent from a GPS satellite.
[0095] The optical communication module 715 may include a light
transmitting portion and a light receiving portion.
[0096] The light receiving portion may receive information by
converting a light signal into an electric signal. The light
receiving portion may include a photo diode (PD) for receiving
light. The photo diode may convert light into an electric signal.
For example, the light receiving portion may receive information
related to a front vehicle based on light emitted from a light
source included in the front vehicle.
[0097] The light transmitting portion may include at least one
light emitting element for converting an electric signal into a
light signal. Here, the light emitting element is preferably a
light emitting diode (LED). The light transmitting portion converts
an electric signal into a light signal and transmits the light
signal to outside. For example, the light transmitting portion may
transmit a light signal to outside in a manner of turning on or off
the light emitting element corresponding to a predetermined
frequency. According to an implementation, the light transmitting
portion may include a plurality of light emitting element arrays.
According to an implementation, the light transmitting portion may
be integrated with lamps provided on the vehicle 700.
[0098] For example, the light transmitting portion may be at least
one of head lamps, a rear lamp, a brake lamp, a turn indicator lamp
and a clearance lamp. For example, the light transmission module
715 may exchange data with another vehicle 602 through light
communication.
[0099] The V2X communication module 716 is a module for performing
wireless communication with the external server 601 or the another
vehicle 602. The V2X communication module 716 includes a module
which may implement a vehicle-to-vehicle (V2V) communication
protocol or a vehicle-to-infra (V2I) communication protocol. The
vehicle 700 may perform wireless communications with the external
server 601 and the another vehicle 602 through the V2X
communication module 716.
[0100] The input unit 720 may include a camera, the camera unit
200a, 200b, 200c, a microphone 723 and a user input unit 724.
[0101] The microphone 723 may process an external sound signal into
electric data. The processed data may be variously used according
to a function currently performed in the vehicle 700. The
microphone 723 may convert a user's voice command into electric
data.
[0102] The converted electric data may be transferred to the
controller 770.
[0103] Meanwhile, according to an implementation, the camera or
microphone 723 may alternatively be a component included in the
sensing unit 760, other than a component included in the input unit
720.
[0104] The user input unit 724 allows the user to input
information. When information is input through the user input unit
724, the controller 770 may control an operation of the vehicle 700
to correspond to the input information. The user input unit 724 may
include a touch input device or a mechanical input device.
According to an implementation, the user input unit 724 may be
disposed on one area of the steering wheel. In this instance, the
user, such as the driver, may manipulate the user input unit 724
with fingers while holding the steering wheel.
[0105] The user input unit 724 may receive a turn signal input.
[0106] The sensing unit 760 senses a signal associated with driving
and the like. To this end, the sensing unit 760 may include a
collision sensor, a wheel sensor, a velocity sensor, a tilt sensor,
a weight sensor, a heading sensor, a yaw sensor, an acceleration
sensor, a gyro sensor, a position module, a vehicle
forward/backward movement sensor, a battery sensor, a fuel sensor,
a tire sensor, a steering sensor by a turn of a handle, a vehicle
internal temperature sensor, a vehicle internal humidity sensor, a
rain sensor, an illumination sensor, a tire air pressure sensor, an
ultrasonic sensor, a radar, a light detection and ranging (LiADAR)
and the like.
[0107] Accordingly, the sensing unit 760 may acquire sensing
signals with respect to information related to a car collision, an
orientation of the vehicle, a location (GPS) of the vehicle, an
angel of the vehicle, a driving speed of the vehicle, an
acceleration of the vehicle, a tilt of the vehicle, a
forward/backward movement of the vehicle, a battery, a fuel, a
tire, a vehicle lamp, internal temperature of the vehicle, internal
humidity of the vehicle, raining, a turning angle of a steering
wheel, ambient brightness, tire air pressure and the like.
[0108] Meanwhile, in addition to those sensors, the sensing unit
760 may further include an acceleration paddle sensor, a pressure
sensor, an engine speed sensor, an air flow sensor (AFS), an air
temperature sensor (ATS), a water temperature sensor (WTS), a
throttle position sensor (TPS), a TDC sensor, a crank angle sensor
(CAS), and the like.
[0109] Meanwhile, the ultrasonic sensor, the radar or the LiADAR
may detect an object and track the object. The ultrasonic sensor,
the radar or the LiADAR may calculate a distance from the detected
object and a relative speed with respect to the object.
[0110] The ultrasonic sensor, the radar or the LiADAR may detect a
dangerous situation. A processor included in the ultrasonic sensor,
the radar or the LiADAR may detect such dangerous situation based
on the distance from the object.
[0111] The sensing unit 760 may include a posture detecting sensor.
The posture detecting sensor may sense a posture of the vehicle.
The posture detecting sensor may generate vehicle posture
information.
[0112] The posture detecting sensor may include the yaw sensor, the
acceleration sensor, the gyro sensor and the tilt sensor.
[0113] The sensing unit 760 may include a wind sensor. The wind
sensor may detect a direction or speed of the wind. The wind sensor
may generate wind direction information or wind speed information.
The wind sensor may include an ultrasonic type wind sensor. The
wind sensor may measure the speed and direction of the wind using
the property that a transfer speed of ultrasonic waves transferred
through an air medium increases or decreases due to the wind.
[0114] The sensing unit 760 may include a biometric information
detecting portion. The biometric information detecting portion
detects biometric information related to a passenger for
acquisition. The biometric information may include fingerprint
information, iris-scan information, retina-scan information, hand
geometry information, facial recognition information, and voice
recognition information. The biometric information detecting
portion may include a sensor for detecting the biometric
information related to the passenger. Here, an internal camera and
the microphone 723 may operate as sensors. The biometric
information detecting portion may acquire hand geometry information
and facial recognition information through the internal camera.
[0115] The output unit 740 is configured to output information
processed in the controller 770, and may include a display module
741, an audio output module 742 and a haptic output module 743.
[0116] The display module 741 may output information processed in
the controller 770. For example, the display module 741 may output
vehicle-related information. Here, the vehicle-related information
may include vehicle control information for a direct control of the
vehicle, or vehicle driving assist information for guiding the
driving of a driver of the vehicle. Also, the vehicle-related
information may include vehicle status information notifying a
current status of the vehicle or vehicle driving information
related to a driving state of the vehicle.
[0117] The display module 741 may include at least one of a liquid
crystal display (LCD), a thin film transistor-liquid crystal
display (TFT-LCD), an organic light emitting diode (OLED), a
flexible display, a 3-dimensional (3D) display, an e-ink display,
and combinations thereof.
[0118] The display module 741 may be layered or integrated with a
touch sensor to implement a touch screen. The touch screen may
function as the user input unit 724 providing a user input
interface between the vehicle 700 and the user and simultaneously
provide an output interface between the vehicle 700 and the user.
In this instance, the display module 741 may include a touch sensor
which senses a touch input applied to the display module 741, so as
to receive a control command applied in a touching manner. By using
this structure, when a touch is applied to the display module 741,
the touch sensor may sense the touch, and the controller 770 may
generate a control command corresponding to the touch. Contents
input by the touching method may be characters, numbers,
instructions in various modes, or menu items to be designated.
[0119] Meanwhile, the display module 741 may include a cluster
which allows the driver to check vehicle status information or
vehicle driving information while driving the vehicle. The cluster
may be located on a dashboard. In this instance, the driver may
check information output on the cluster while viewing the front of
the vehicle.
[0120] Meanwhile, according to an implementation, the display
module 741 may be implemented as a head up display (HUD). When the
display module 741 is implemented as the HUD, information may be
output through a transparent display provided on a wind shield. Or,
the display module 741 may be provided with a projection module and
thus output information through an image projected on the wind
shield.
[0121] The audio output module 742 converts an electric signal sent
from the controller 770 into an audio signal and outputs the audio
signal. To this end, the audio output module 742 may include a
speaker and the like. The audio output module 742 may output sound
corresponding to an operation of the user input unit 724.
[0122] The haptic output module 743 generates a tactile output. For
example, the haptic output module 743 may vibrate a steering wheel,
a safety belt or a seat to make the user recognize such output.
[0123] The vehicle operating unit 750 may control operations of
various vehicle devices. The vehicle operating unit 750 may receive
a control signal from the steering apparatus. The vehicle operating
unit 750 may control each device based on the control signal.
[0124] The vehicle operating unit 750 may include a power source
operating portion 751, a steering operating portion 752, a brake
operating portion 753, a lamp operating portion 754, an air
conditioner operating portion 755, a window operating portion 756,
an airbag operating portion 757, a sunroof operating portion 758,
and a suspension operating portion 759.
[0125] The power source operating portion 751 may perform an
electronic control for the power source within the vehicle 700.
[0126] For example, when a fossil fuel-based engine is a power
source, the power source operating portion 751 may perform an
electronic control for the engine. Accordingly, an output torque or
the like of the engine may be controlled. When the power source
operating portion 751 is the engine, the engine output torque may
be limited according to the control of the controller 770, thereby
limiting speed of the vehicle.
[0127] As another example, when an electric motor is a power
source, the power source operating portion 751 may perform a
control for the motor, thereby controlling a rotation speed, torque
and the like of the motor.
[0128] The power source operating portion 751 may receive an
acceleration control signal from the steering apparatus or the
control device 100. The power source operating portion 751 may
control the power source according to the received acceleration
control signal.
[0129] The steering operating portion 752 may perform an electronic
control for the steering apparatus within the vehicle 700.
Accordingly, a moving, driving, or ongoing direction of the vehicle
may be changed.
[0130] The steering operating portion 752 may receive a steering
control signal from the steering apparatus or the control device
100.
[0131] The steering operating portion 752 may control the steering
apparatus to be steered according to the received steering control
signal.
[0132] The brake operating portion 753 may perform an electronic
control for the brake apparatus 153 within the vehicle 700. For
example, the braking operating portion 753 may control an operation
of a brake or brake apparatus provided on a wheel to reduce speed
of the vehicle 700 or stop the vehicle 700. As another example, the
brake operating portion 753 may differently control operations of
brakes disposed on a left wheel and a right wheel to adjust a
moving direction of the vehicle 700 to left or right. The brake
operating portion 753 may receive a deceleration control signal
from the steering apparatus or the control device 100. The brake
operating portion 753 may control the brake apparatus according to
the received deceleration control signal.
[0133] The lamp operating portion 754 may control lamps disposed
within or outside the vehicle to be turned on or ff. Also, the lamp
operating portion 754 may control intensity, direction and the like
of light. For example, the lamp operating portion 754 may control
turn indicator lamps, brake lamps and the like.
[0134] The air conditioner operating portion 755 may perform an
electronic control for an air conditioner within the vehicle 700.
For example, when internal temperature of the vehicle is high, the
air conditioner operating portion 755 may control the air
conditioner to be activated to supply cold air into the
vehicle.
[0135] The window operating portion 756 may perform an electronic
control for a window apparatus within the vehicle 700. For example,
the window operating portion 756 may control left and right windows
provided on side surfaces of the vehicle to be open or closed.
[0136] The airbag operating portion 757 may perform an electronic
control for an airbag apparatus within the vehicle 700. For
example, the airbag operating portion 757 may control an airbag to
be deployed upon exposed to danger.
[0137] The sunroof operating portion 758 may perform an electronic
control for a sunroof apparatus within the vehicle 700. For
example, the sunroof operating portion 758 may control the sunroof
to be open or closed.
[0138] The suspension operating portion 759 may perform an
electronic control for a suspension apparatus within the vehicle
700. For example, when a bump is present on a road surface, the
suspension operating portion 759 may control the suspension
apparatus to reduce vibration transferred to the vehicle 700. The
suspension operating portion 759 may receive a suspension control
signal from the steering apparatus or the control device 100. The
suspension operating portion 759 may control the suspension
apparatus according to the received suspension control signal.
[0139] The memory 730 is electrically connected to the controller
770. The memory 730 may store basic data for units, control data
for controlling operations of units and input/output data. The
memory 730 may store various data for overall operations of the
vehicle 700, such as programs for processing or controlling the
controller 770.
[0140] The memory 730 may include one or more types of storage
mediums including a flash memory type, a hard disk type, a solid
state disk (SSD) type, a silicon disk drive (SDD) type, a
multimedia card micro type, a card-type memory (e.g., SD or XD
memory, etc), a Random Access Memory (RAM), a Static Random Access
Memory (SRAM), a Read-Only Memory (ROM), an Electrically Erasable
Programmable Read-Only Memory (EEPROM), a Programmable Read-Only
memory (PROM), a magnetic memory, a magnetic disk, an optical disk,
and the like. The vehicle 700 may also be operated in relation to a
network storage device that performs the storage function of the
memory 730 over a network, such as the Internet.
[0141] The memory 730 may be integrated with the controller
770.
[0142] The interface unit 780 may serve as a path allowing the
vehicle 700 to interface with various types of external devices
connected thereto. For example, the interface unit 780 may be
provided with a port connectable with the mobile terminal 600, and
connected to the mobile terminal 600 through the port. In this
instance, the interface unit 780 may exchange data with the mobile
terminal 600.
[0143] Meanwhile, the interface unit 780 may serve as a path for
supplying electric energy to the connected mobile terminal 600.
When the mobile terminal 600 is electrically connected to the
interface unit 780, the interface unit 780 supplies electric energy
supplied from the power supply unit 790 to the mobile terminal 600
according to the control of the controller 770.
[0144] The interface unit 780 may serve as a path allowing the
vehicle 700 to interface with various types of external devices
connected thereto. The interface unit 780 may include any of wired
or wireless ports, external power supply ports, wired or wireless
data ports, memory card ports, ports for connecting a device having
an identification module, audio input/output (I/O) ports, video I/O
ports, earphone ports, and the like. In some cases, the vehicle 700
may perform assorted control functions associated with a connected
external device, in response to the external device being connected
to the interface unit 780.
[0145] The controller 770 may control an overall operation of each
unit, apparatus or component within the vehicle 700.
[0146] The controller 770 may be referred to as an electronic
control unit (ECU). The controller 770 may be implemented in
hardware configuration by using at least one of digital signal
processors (DSPs), digital signal processing devices (DSPDs),
programmable logic devices (PLDs), field programmable gate arrays
(FPGAs), processors, controllers, micro controllers,
microprocessors, and electric units performing other functions.
[0147] The power supply unit 790 may supply power required for
operations of components according to the control of the controller
770. Specifically, the power supply unit 790 may receive power
supplied from an internal battery of the vehicle 700.
[0148] The steering apparatus or the control device 100 may
exchange data with the controller 770. Various information, data or
control signals generated in the steering apparatus may be output
to the controller 770. The steering apparatus may be the control
device described with reference to FIGS. 1 to 3.
[0149] A driver status monitoring (DSM) system is a system of
sensing a driver's status and controlling the vehicle 700 according
to the driver's status. The DSM system may include an input device
such as an internal camera, a microphone and the like.
[0150] The DSM system may monitor the driver's status, such as
whether the driver is looking at the front, dozing off, eating
food, manipulating a device or the like. Also, the DSM system may
sense the driver's concentration on driving during the driving.
[0151] The DSM system may include a photoplenthysmogram (PPG)
sensor. The PPG sensor may be disposed on one area of the steering
wheel which is contactable with the user's body, for example the
driver's body. The PPG sensor may be disposed on one area of a
steering wheel rim. The DSM system may acquire a biometric signal
of the driver through the PPG sensor and analyze the acquired
biometric signal.
[0152] For example, the DSM system may acquire a biometric signal
and generate driver condition information as the driver status
information.
[0153] For example, the DSM system may acquire biometric
information and generate information related to the driver's
excited condition as the driver status information.
[0154] For example, the DSM system may analyze a driver image
acquired through the internal camera, and generate information
related to the driver's dozing state as the driver status
information.
[0155] For example, the DSM system may analyze a driver image
acquired through the internal camera, and generate information
related to the driver's device manipulating state.
[0156] The DSM system may provide the driver status information to
the steering apparatus or the control device 100.
[0157] The vehicle display device 400 may exchange data with the
controller 770. The controller 770 may receive navigation
information from the vehicle display device 400 or a separate
navigator. Here, the navigation information may include information
related to a preset destination, path information based on the
destination, map information related to driving of the vehicle, or
vehicle location information.
[0158] Meanwhile, the vehicle 700 disclosed herein may include the
control device 100. The control device 100 may control various
lamps provided in the vehicle 700.
[0159] The various lamps, for example, may include head lamps
configured to emit visible light to the front of the vehicle, rear
lamps configured to emit visible light to the rear of the vehicle,
turn indicator lamps and the like.
[0160] The rear lamp 154 may be configured by combination of at
least one of the head lamp, brake lamps emitting light when the
brake apparatus 153 operates, and the turn indicator lamps. The
rear lamp may be referred to as a rear combination lamp (portion,
module), in view of being configured by the combination of lamps
performing various functions.
[0161] The control device 100 disclosed herein may be an
independent device (structure or component) that controls at least
one component (e.g., the lamps, the brake apparatus, the brake
operating portion 753, the lamp operating portion 754 and the like)
provided in the vehicle 700.
[0162] The control apparatus 100 may generally control various
units, components, apparatuses, and the like described in FIG. 3.
In some implementations, the control device 100 may be the
controller 770 of the vehicle 700. In such scenarios, functions and
controls described in relation to the control device 100 may be
performed by the controller 770 of the vehicle 700.
[0163] Also, the control device 100 may be referred to as a lamp
control device, a vehicle control device, a vehicle assist device
or the like, from the perspective of controlling the lamps provided
on the vehicle.
[0164] Meanwhile, for the sake of explanation in this
specification, description will be given under assumption that the
control device 100 is a single independent device (structure or
component).
[0165] Hereinafter, the control device 100 according to some
implementations will be described with reference to FIG. 4. The
following description will be applied to a case where the control
device 100 provided in the vehicle is configured as the independent
device.
[0166] FIG. 4 is a block diagram illustrating a control device in
accordance with some implementations.
[0167] As illustrated in FIG. 4, the control device 100 according
to some implementations may include a camera module 200, a
communication unit 110, an input unit 120, an interface unit 130, a
memory 140, an output unit 150, a brake apparatus 153, rear lamps
154, a sensing unit 160, a processor 170 and a power supply unit
190.
[0168] The camera module 200 (or camera) may acquire surrounding
images of the vehicle.
[0169] Data, signals or information generated in the camera module
200 are transmitted to the processor 170.
[0170] The camera module 200 may be the camera unit 200a, 200b,
200c illustrated in FIGS. 2A to 2C.
[0171] For example, the camera module 200 may be the mono camera
unit 200a. The mono camera unit 200a may acquire a mono image as
the surrounding image of the vehicle.
[0172] For example, the camera module 200 may be the stereo camera
unit 200b. The stereo camera unit 200b may acquire a stereo image
as the surrounding image of the vehicle.
[0173] For example, the camera module 200 may be an around view
camera unit 200c. The around view camera unit 200c may acquire an
around view image as the surrounding image of the vehicle.
[0174] The communication unit 110 may exchange data with the mobile
terminal 600, the server 601 or the another vehicle 602 in a
wireless manner. Specifically, the communication unit 110 may
exchange data with the mobile terminal of the driver of the vehicle
in a wireless (or wired) manner. Examples of such wireless
communication method may include various communication methods,
such as Bluetooth, WiFi direct, WiFi, APiX, NFC, etc.
[0175] The communication unit 110 may receive weather information,
road traffic condition information, for example, TPEG information
from the mobile terminal 600 or the server 601. Meanwhile, the
vehicle assist device 100 may also transmit recognized real-time
information to the mobile terminal 600 or the server 601.
[0176] Meanwhile, when the user gets in the vehicle, the user's
mobile terminal 600 and the control device 100 may perform pairing
with each other automatically or by the user's execution of an
application. In view of this, the control device 100 may be
referred to as a vehicle assist device.
[0177] The communication unit 110 may receive traffic light change
information from the external server 601.
[0178] Here, the external server 601 may be a server located in a
traffic control station for controlling traffic.
[0179] The communication unit 110 may receive weather information
from the external server 601. Here, the external server 601 may be
a server of an organization or an operator providing the weather
information. For example, the communication unit 110 may receive,
for each region, fine dust information, smog information or yellow
dust information from the external server 601.
[0180] The input unit 120 may include a user input unit 121 and an
audio input unit 122.
[0181] The user input unit 121 may include a plurality of buttons
or a touch screen. The user input unit 121 may turn on the control
device 100 through the plurality of buttons or the touch screen.
The user input unit 121 may also perform various input
operations.
[0182] The audio input unit 122 may receive the user's voice input.
The audio input unit 122 may include a microphone switching the
voice input into an electric signal. The audio input unit 122 may
receive the user's voice to turn on the vehicle assist device 100.
The user input unit 121 may also perform other various input
operations.
[0183] The input unit 120 may be the input unit 720 illustrated in
FIG. 3.
[0184] The interface unit 130 may allow for receiving information,
signals or data, or externally transmitting information, signals or
data processed or generated in the processor 170. To this end, the
interface unit 130 may perform data communication with the
controller 770, the vehicle display device 400, the sensing unit
760, the vehicle driving portion 750 and the like provided in the
vehicle, through wired or wireless communication technologies.
[0185] The interface unit 130 may allow for receiving navigation
information through data communications with the controller 770,
the vehicle display device 400 or a separate navigator.
[0186] Here, the navigation information may include information
related to a preset destination, path information based on the
destination, map information related to driving of the vehicle, or
vehicle location information. Meanwhile, the navigation information
may include location information related to the vehicle on a
road.
[0187] Meanwhile, the interface unit 130 may allow for receiving
sensor information from the controller 770 or the sensing unit 160,
760.
[0188] Here, the sensor information may include information related
to at least one of an orientation of the vehicle, a location (GPS)
of the vehicle, an angel of the vehicle, a driving speed of the
vehicle, an acceleration of the vehicle, a tilt of the vehicle, a
forward/backward movement of the vehicle, a battery, a fuel, a
tire, a vehicle lamp, internal temperature of the vehicle, external
temperature of the vehicle, internal humidity of the vehicle,
external humidity of the vehicle, and raining.
[0189] The sensor information may be acquired from a heading
sensor, a yaw sensor, a gyro sensor, a position module, a vehicle
forward/backward movement sensor, a wheel sensor, a vehicle
velocity sensor, a vehicle tilt detecting sensor, a battery sensor,
a fuel sensor, a tire sensor, a steering sensor by a turn of a
handle, a vehicle internal temperature sensor, a vehicle external
temperature sensor, a vehicle internal humidity sensor, a vehicle
external humidity sensor, a rain sensor, a GPS sensor and the
like.
[0190] Meanwhile, among those sensor information, the vehicle
orientation information, the vehicle location information, the
vehicle angle information, vehicle velocity information, the
vehicle tilt information and the like, all related to the driving
of the vehicle, may be referred to as vehicle driving
information.
[0191] The interface unit 130 may receive passenger information.
Here, the passenger information may be information received through
an input device. Or, the passenger information may be information
acquired through a passenger detecting sensor (e.g., a camera
capturing a passenger's state). Or, the passenger information may
be information received from a mobile terminal belonging to the
passenger.
[0192] The memory 140 may store various data for an overall
operation of the control device 100, such as programs for
processing or control of the processor 170.
[0193] The memory 140 may store data for checking a predetermined
object. For example, the memory140 may store information for
checking (or verifying) what the object corresponds to, according
to a preset algorithm, when the predetermined object is detected
from an image acquired through the camera module 200.
[0194] Meanwhile, the memory 140 may be various storage media, such
as ROM, RAM, EPROM, a flash drive, a hard drive and the like, in
hardware configuration. The memory 140 may be integrally formed
with the processor 170.
[0195] The output unit 150 may generate a visual, audible or
tactile output, and may include at least one of the display unit
151, the audio output module 152, the haptic module and an optical
output module. The display unit 151 may implement a touch screen as
being layered or integrated with a touch sensor. The touch screen
may function as the user input unit 121 providing a user input
interface between the control device 100 and the user and
simultaneously providing an output interface between the control
device 100 and the user.
[0196] The output unit 150 of the control device 100 may be the
output unit 740 illustrated in FIG. 3, or a separate device.
[0197] Similarly, the display unit 151 may also be the display
device 400 illustrated in FIG. 3, or a separate device.
[0198] The brake apparatus 153 may be a hardware device for
reducing velocity of the vehicle 700. The brake apparatus 153 may
be provided in the vehicle 700. The brake apparatus 153 may be
controlled by at least one of the brake operating portion 753 and
the controller 770 illustrated in FIG. 3.
[0199] The rear lamps 154 may be provided on the rear of the
vehicle 700. The rear lamps 154 may be configured as various light
sources. For example, the rear lamps 154 may emit light by a light
source including at least one of a bulb, a micro LED, a matrix LED,
an OLED and a laser diode.
[0200] For example, the rear lamps 154 may be configured to output
visible light to the rear of the vehicle 700, in response to the
brake apparatus 153 being operated (activated).
[0201] The brake apparatus 153 and the rear lamps 154 are
preferably provided at the vehicle 700. Meanwhile, for the sake of
explanation, the brake apparatus 153 and the rear lamps 154 will be
described as being included in the control device 100.
[0202] The control device 100 according to some implementations may
include a sensing unit 160. Here, the sensing unit 160 may be the
sensing unit 760 illustrated in FIG. 3. The sensing unit 160 may be
the sensing unit 760 itself provided in the vehicle, or a separate
component.
[0203] Even when the sensing unit 160 is the separate component,
the structure of the sensing unit 760 provided in the vehicle will
be applied equally/similarly.
[0204] For the sake of explanation, description will be given under
assumption that the sensing unit 160 is included in the control
device 100. Also, the same/like description of the sensing unit 760
provided in the vehicle and the use of the sensing unit 760
provided in the vehicle will be applied to description of the
sensing unit 160 and the use of the sensing unit 160.
[0205] The processor 170 may control an overall operation of each
unit within the control device 100. The processor 170 may be
electrically connected to each unit, component or apparatus within
the control device 100. In some implementations, the processor 170
may refer to one or more processors that perform the control
operations.
[0206] The processor 170 may process surrounding images acquired
through the camera module 200. The processor 170 may process the
vehicle surrounding image into a computer vision-based signal.
[0207] The processor 170 may merge a plurality of images received
from the around view camera module 200c of FIG. 2C. Here, the
plurality of images may be images received from the plurality of
cameras 221a, 221b, 221c and 221d of FIG. 2C. The processor 170 may
generate an around view image or an omnidirectional image by
merging the plurality of images. For example, the around view image
may be a top view image.
[0208] The processor 170 may detect at least one object based on
each of the images acquired from the plurality of cameras 221a,
221b, 221c and 221d of FIG. 2C). Or, the processor 170 may detect
at least one object based on the around view image.
[0209] Also, the processor 170 may detect at least one object based
on the omnidirectional image. The lamp control device 100 may track
a movement of the detected object.
[0210] During the detection of the object, the processor 170 may
perform a lane detection (LD), a vehicle detection (VD), a
pedestrian detection (PD), a brightspot detection (BD), a traffic
sign recognition (TSR), a road surface detection, a structure
detection and the like.
[0211] For example, the processor 170 may detect an object based on
at least one of intensity, a color, histogram, a feature point, a
shape, a space position and a motion.
[0212] The processor 170 may verify the detected object. The
processor 170 may verify the detected object using an identifying
method using a neural network, a support vector machine (SVM)
method, an identifying method by AdaBoost using a Haar-like
characteristic, a histograms of oriented gradients (HOG)
technology, or the like. In this instance, the processor 170 may
perform such verification by comparing the object detected from the
surrounding image of the vehicle with data stored in the memory
140.
[0213] The processor 170 may track the verified object. The
processor 170 may calculate a motion or a motion vector of the
verified object and track a movement and the like of the object
based on the calculated motion or motion vector.
[0214] Meanwhile, the processor 170, for hardware implementation,
may be implemented using at least one of application specific
integrated circuits (ASICs), digital signal processors (DSPs),
digital signal processing devices (DSPDs), programmable logic
devices (PLDs), field programmable gate arrays (FPGAs), processors,
controllers, micro-controllers, microprocessors, electronic units
designed to perform the functions described herein.
[0215] The power supply unit 190 may supply power required for an
operation of each component according to the control of the
processor 170. Specifically, the power supply unit 190 may receive
power supplied from an internal battery of the vehicle and the
like.
[0216] As aforementioned, the control device 100 described in FIG.
4 may be a component or device independently provided in the
vehicle 700 or the controller 770 itself.
[0217] The control device 100 which may include at least one of
those components may control various lamps provided on the
vehicle.
[0218] FIG. 5 is a diagram illustrating an example of lamps and a
brake apparatus provided in a vehicle in accordance with some
implementations.
[0219] As illustrated in FIG. 5, the vehicle 700 disclosed herein
may include lamps 154, 155 and 156 controlled by the control device
100 (or the controller 770), and a brake apparatus 153.
[0220] For example, the lamps may include head lamps 155 provided
on a front of the vehicle and emitting (outputting) visible light
to the front of the vehicle, rear lamps 154 provided on a rear of
the vehicle and emitting visible light to the rear of the vehicle,
and turn indicator lamps 156.
[0221] The head lamps 155 and the turn indicator lamps 156 are
irrespective of some implementations, so detailed description
thereof will be omitted.
[0222] Meanwhile, the vehicle 700 disclosed herein may include the
brake apparatus 153 which brakes a movement of the vehicle.
[0223] In detail, the brake apparatus 153 may operate a brake shoe
(or pad) provided on at least one of front wheels 103FL, 103FR and
rear wheels 103RL, 103RR of the vehicle and generate frictional
force (clamping force or braking force) between the at least one
wheel of the vehicle and the brake shoe (or pad). When the brake
apparatus 153 is operated, the movement of the vehicle may be
braked.
[0224] For example, the brake apparatus 153 may be driven (or
operated) when a brake paddle 500 is pressed. In detail, when the
brake paddle 500 is pressed, the brake apparatus 153 may operate
the brake shoe through a brake circuit. In this instance, the brake
apparatus 153 may be a hydraulic brake which acquires the braking
force using oil pressure.
[0225] The hydraulic brake is understood by a publicly known
technology, so detailed description thereof will be omitted.
[0226] As another example, when a driving state of the vehicle is
determined as an emergency, the control device 100 (or the vehicle
770 of the vehicle) may operate the brake apparatus 153, even
though the brake paddle 500 is not pressed. This operation may
correspond to an automatic emergency braking (AEB) system (or
function).
[0227] Here, the emergency may refer to a case where collision
probability between an object detected at the front (e.g., a front
vehicle) and the vehicle 700 exceeds a reference value (e.g., a
preset value).
[0228] For example, the processor 170 of the control device 100 may
detect vehicle-related information (or a driving state of the
vehicle) (e.g., a driving speed of the vehicle, a weight of the
vehicle or a maximum braking force of the vehicle), and surrounding
information related to the vehicle (e.g., a state of a road
surface, the weather, a distance from a front vehicle, a driving
speed of a front vehicle, etc.) using the sensing unit 160.
[0229] Afterwards, the processor 170 may calculate the collision
probability of the vehicle (e.g., a time to collision (TTC)) on the
basis of the driving state of the vehicle and the surrounding
information related to the vehicle.
[0230] When the collision probability of the vehicle is more than
the reference value (or when the TTC is shorter than a reference
time), the processor 170 may operate (activate) the brake apparatus
153 even though the brake paddle 500 is not pressed. The reference
value (or the reference time) may be changed by the user or preset
at the time of producing a product (the vehicle, the control
device, etc.).
[0231] In this manner, the function (or system) of driving (or
operating) the brake apparatus 153 when the collision probability
of the vehicle is more than the reference value, even though the
brake paddle 500 is not pressed, may be referred to as an AEB
system.
[0232] The AEB system is one of core functions of an adaptive
driving assistance system (ADAS) and may increase safety of the
vehicle.
[0233] When the brake apparatus 153 is operated, the rear lamps 154
may output visible light to the rear of the vehicle. For example,
even when the brake apparatus 153 is operated by the AEB system, as
well as being operated in response to the brake paddle 500 being
pressed, the rear lamps 154 may emit (output, irradiate) the
visible light to the rear of the vehicle.
[0234] Also, the brake apparatus 153 may include at least one of a
hydraulic brake that is operated by the brake paddle 500, an engine
brake that decelerates the vehicle by increasing an engine speed
(engine RPM) using friction between the engine and a gearbox, or a
parking brake.
[0235] The operation in which the rear lamps 154 emit light in
response to the operation of the brake apparatus 153 may be
performed under the control of the processor 170 of the control
device 100 (or the controller 770).
[0236] Also, in hardware (or electric) configuration, the vehicle
700 disclosed herein may be pre-designed in a manner that the rear
lamps 154 emit visible light to the rear of the vehicle without the
control of a separate component (e.g., the controller 770 or the
control device 100 (processor 170)).
[0237] In some implementations, the control device 100 disclosed
herein may control the rear lamps 154 by an improved process to
enhance safety of the vehicle. The improved control method may help
prevent a rear-end collision or chain collision or multi-vehicle
rear-end collision. Examples of such implementations will be
described with reference to the accompanying drawings.
[0238] FIG. 6 is a flowchart illustrating an example of a control
method in accordance with some implementations, and FIG. 7 is a
diagram illustrating the control method of FIG. 6.
[0239] As aforementioned, the control device 100 disclosed herein
may include the brake apparatus 153 for braking the movement of the
vehicle, and the rear lamps 154 emitting visible light to the rear
of the vehicle 700 when the brake apparatus 153 is activated.
[0240] Also, the control device 100 disclosed herein may include
the sensing unit 160 that senses at least one of vehicle-related
information and surrounding information related to the vehicle. The
sensing unit 160 may be a sensing unit provided in the control
device 100 or the sensing unit 760 provided in the vehicle 700.
[0241] The vehicle-related information may be information related
to driving of the vehicle (or a driving state of the vehicle). For
example, the vehicle-related information may include a driving
speed of the vehicle, a weight of the vehicle, a number of persons
in the vehicle, braking force of the vehicle, the maximum braking
force of the vehicle and the like.
[0242] The surrounding information related to the vehicle, for
example, may be a state (frictional force) of a road surface on
which the vehicle is currently moving, a distance from a front (or
rear) vehicle, a relative speed of a front (or rear) vehicle, a
curvature of a curve when a driving lane is curved.
[0243] In some implementations, at least one of the vehicle-related
information and the vehicle surrounding information is sensed using
the sensing unit 160 (S610).
[0244] In detail, the processor 170 may detect at least one of the
vehicle-related information and the vehicle surrounding information
by controlling the sensing unit 160 while the vehicle is
driven.
[0245] The detection may be executed always while the vehicle is
driven, with a predetermined time interval, or when an object is
detected near the vehicle, and the like, but implementations are
not limited to this.
[0246] The processor 170 may calculate the shortest braking
distance of the vehicle 700 using at least one of the detected
vehicle-related information and vehicle surrounding information.
For example, the processor 170 may calculate the shortest braking
distance of the vehicle on the basis of the weight of the vehicle,
the driving speed of the vehicle, the maximum braking force of the
vehicle and the state of the road surface.
[0247] The processor 170 may also calculate the collision
probability of the vehicle.
[0248] The collision probability of the vehicle may be collision
probability with a rear vehicle.
[0249] The processor 170 may calculate a relative speed with the
rear vehicle, and a relative distance with the rear vehicle through
the sensing unit 160. Afterwards, the processor 170 may decide the
time to collision (TTC) on the basis of the calculated relative
distance and relative speed.
[0250] The collision probability may be decided based on the
TTC.
[0251] The TTC may be calculated using the relative speed and the
relative distance with the rear vehicle. Also, the TTC may be
changed (decided) based on at least one of the driving speed of the
vehicle, the weight of the vehicle, the braking force (maximum
braking force) of the vehicle, the state of the driving road
surface and the shortest braking distance of the vehicle, in
addition to the relative speed and the relative distance.
[0252] The collision probability may include collision probability
with a front rear vehicle, as well as the collision probability
with the rear vehicle. For example, the processor 170 may decide
the collision probability (or TTC) with the front vehicle based on
the relative speed and relative distance with the front
vehicle.
[0253] The processor 170 may decide the collision probability with
the front vehicle or the collision probability with the rear
vehicle based on at least one of the vehicle-related information
and the vehicle surrounding information detected through the
sensing unit.
[0254] Also, the collision probability may include departure
probability from a currently-driving lane during moving along a
curve, as well as the collision probabilities with the front and
rear vehicles. The departure may include a case where the vehicle
is slipped or turned over (or overturned) due to moving along a
curve.
[0255] For example, the processor 170 may determine probability
that the corresponding vehicle is likely to move out of its driving
lane on the basis of at least one of curvature of a curved road
surface that the vehicle is currently moving, a state of the road
surface, the driving speed of the vehicle and the weight of the
vehicle.
[0256] Afterwards, in some implementations, when the information
sensed through the sensing unit corresponds to a preset condition,
the rear lamps are controlled to output visible light to the rear
of the vehicle even though the brake apparatus provided in the
vehicle is not operated (S620).
[0257] Here, the preset condition may refer to a condition that the
rear lamps 154 emit light even though the brake apparatus 100 is
not operated.
[0258] The preset condition may be prestored in the memory 140, 170
or the processor 170 (or controller 770) from the time of producing
the control device 100 (or vehicle 700).
[0259] Also, the preset condition may be set or changed by a
user.
[0260] For example, the preset condition may be at least one of
whether or not the collision probability with the rear vehicle is
more than a reference value, whether or not the collision
probability with the front vehicle is more than a reference value,
or whether or not a lane departure probability of the
currently-driven vehicle is more than a reference value.
[0261] However, implementations are not limited to this. The preset
condition may include more various conditions.
[0262] For example, the present condition may refer to detailed
conditions, such as whether the collision probability with the rear
vehicle exceeds a first reference or a second reference higher than
the first reference, whether the collision probability with the
front vehicle exceeds a first reference or a second reference
higher than the first reference, whether the lane departure
probability of the currently-driven vehicle exceeds a first
reference or a second reference higher than the first
reference.
[0263] As another example, the preset condition may include
presence or absence of other vehicles near the vehicle 700, such as
whether or not another vehicle is present at the rear of the
vehicle 700, whether or not other vehicles are present at both of
front and rear sides of the vehicle 700, or whether or not other
vehicles are present next the vehicle 700.
[0264] Also, the present condition may refer to a condition which
is a combination of at least one of the aforementioned
conditions.
[0265] Various implementations related to the preset condition,
namely, various implementations in which the rear lamps are
activated even though the brake apparatus is not operated will be
described hereinafter with reference to the accompanying
drawings.
[0266] Meanwhile, the processor 170 may control the rear lamps 154
to output visible light to the rear of the vehicle even though the
brake apparatus 100 is not operated, when the information sensed
through the sensing unit 160 corresponds to the preset
condition.
[0267] For example, as illustrated in the upper portion of FIG. 7,
the processor 170 may not allow the rear lamps 154 to output
visible light when the information sensed through the sensing unit
160 does not meet the preset condition. As an example, not meeting
the preset condition may correspond to the collision probability
with the rear vehicle being less than a reference value.
[0268] As another example, as illustrated in the lower portion of
FIG. 7, the processor 170 may control the rear lamps 154 to emit
the visible light to the rear of the vehicle 700, even though the
brake apparatus 153 is not operated, when the information sensed
through the sensing unit 160 meets the preset condition. As an
example, meeting the preset condition may correspond to the
collision probability with the rear vehicle being greater than a
reference value.
[0269] In some implementations, when the information sensed through
the sensing unit 160 meets the preset condition, the processor 170
may control the rear lamps 154 to emit the visible light even
though the brake paddle 500 is not pressed, for example, even
though the brake apparatus 153 is not operated.
[0270] Also, when the information sensed through the sensing unit
160 meets the preset condition, the processor 170 may control the
rear lamps 154 to emit the visible light to the rear of the vehicle
700 even though the brake apparatus 153 is not operated by the AEB
system.
[0271] Here, the processor 170, for example, may control brake
lamps included in the rear lamps 154 to emit the visible light when
the information sensed through the sensing unit 160 meets the
preset condition.
[0272] However, implementations are not limited to this. The rear
lamps 154 may include separate light sources which are configured
to output visible light to the rear of the vehicle even though the
brake apparatus 100 is not operated. Afterwards, when the
information sensed through the sensing unit 160 meets the preset
condition, the processor 170 may control the separate light sources
included in the rear lamps 154 to emit the visible light to the
rear of the vehicle.
[0273] As described above, when information sensed through the
sensing unit meets a preset condition (e.g., when the collision
probability of the vehicle is more than the reference value), the
rear lamps 154 may be controlled to emit light even though the
brake apparatus is not operated. This may result in increasing
driving safety of the vehicle, from the ADAS perspective. Also,
some implementations may provide a control method that helps
prevent a rear-end collision by warning an accident to a rear
vehicle in a manner of controlling the rear lamps to emit light
even though the brake apparatus is not operated.
[0274] Hereinafter, various control methods for emitting light
through the rear lamps even though the brake apparatus is not
operated will be described with reference to the accompanying
drawings.
[0275] FIG. 8 is a flowchart illustrating an example of controlling
rear lamps in accordance with some implementations, and FIGS. 9A
and 9B are diagrams illustrating examples of the control method of
FIG. 8.
[0276] First, as illustrated in FIG. 8, similar to the
implementation illustrated in FIG. 6, at least one of the
vehicle-related information and the vehicle surrounding information
are sensed through the sensing unit 160 (S610). This step will be
understood by the description of the step S610 illustrated in FIG.
6, so detailed description thereof will be omitted.
[0277] The processor 170 may control the rear lamps 154 to output
visible light to the rear of the vehicle although the brake
apparatus 153 is not operated, when the sensed information
corresponds to a preset condition.
[0278] In this instance, the processor 170 may control the rear
lamps 154 to output the visible light in a different manner on the
basis of different information sensed through the sensing unit 160
in a state the brake apparatus 153 is not operated.
[0279] Here, the different information may be information which
meets the preset condition which is associated with the emission of
the rear lamps in spite of the non-operation of the brake
apparatus.
[0280] In detail, the processor 170 may determine whether or not
the sensed information corresponds to a first condition as the
preset condition (S622). Afterwards, the processor 170 may control
the rear lamps 154 to output the visible light in a first manner
when the information sensed through the sensing unit 160
corresponds to the first condition as the preset conditions
(S624).
[0281] Meanwhile, the processor 170 may determine whether or not
the sensed information corresponds to a second condition, different
from the first condition as the preset condition, when the sensed
information does not correspond to the first condition (S626).
[0282] The processor 170 may control the rear lamps 154 to output
the visible light in a second manner, different from the first
manner, when the information sensed through the sensing unit 160
corresponds to the second condition, different from the first
condition (S628).
[0283] In detail, the processor 170 may differently control the
rear lamps 154 according to a type of the sensed information
(namely, a type of a satisfied condition) when the information
sensed through the sensing unit 160 meets a preset condition for
controlling the rear lamps 154 to output the visible light without
the operation of the brake apparatus 153.
[0284] For example, as illustrated in the upper portion of FIG. 9A,
when the information sensed through the sensing unit 160 meets a
first condition as the preset condition, the processor 170 may
control the rear lamps 154 to output the visible light in a first
manner 900a. As one example, the first condition may be a case
where the collision probability with a vehicle 800 (hereinafter,
referred to as `rear vehicle`) sensed from the rear of the vehicle
700 is a first value.
[0285] As another example, as illustrated in the lower portion of
FIG. 9A, the processor 170 may control the rear lamps 154 to emit
the visible light in a second manner 900b, different from the first
manner 900a, when the information sensed through the sensing unit
160 corresponds to a second condition, different from the first
condition. For example, the second condition may be a case where
the collision probability with the rear vehicle 800 is a second
value greater than the first value.
[0286] FIG. 9A illustrates the example that the visible light
output in the first manner or the second manner has a different
output angle. However, the visible light output manner of the rear
lamp will not be limited to this.
[0287] The rear lamps 154 may be configured to output the visible
light in various manners.
[0288] For example, the processor 170 may control not only the
light emission angle of the rear lamps 154, but also at least one
of an emitting time point of the rear lamps 154, brightness of
emitted light of the rear lamps 154, an emission period of the rear
lamps 154, an emitting direction of the rear lamps 154 and a color
of emitted light of the rear lamps 154.
[0289] The processor 170 may control the rear lamps 154 to output
the visible light in the first manner or the second manner which is
different from the first manner, by differently controlling at
least one (or a combination of more than two) of the light emission
angle of the rear lamps 154, the emitting time point of the rear
lamps 154, the brightness of emitted light of the rear lamps 154,
the emission period of the rear lamps 154, the emitting direction
of the rear lamps 154 and the color of emitted light of the rear
lamps 154.
[0290] As one example, outputting the visible light in the first
manner is to output the visible light at a first light emission
angle of the rear lamps. On the other hand, outputting the visible
light in the second manner is to output the visible light at a
second light emission angle, different from the first light
emission angle.
[0291] As one example, outputting the visible light in the first
manner is performed by outputting the visible light at a first
light emission time point of the rear lamps, and outputting the
visible light in the second manner is performed by outputting the
visible light at a second light emission time point, different from
the first light emission time point.
[0292] As one example, outputting the visible light in the first
manner is to output the visible light with a first brightness. On
the other hand, outputting the visible light in the second manner
is to output the visible light with a second brightness different
from the first brightness.
[0293] As one example, outputting the visible light in the first
manner is to output the visible light at a first light emission
period. On the other hand, outputting the visible light inn the
second manner is to output the visible light at a different light
emission period different from the first emission period.
[0294] As one example, outputting the visible light in the first
manner is to output the visible light in a first emitting
direction. On the other hand, outputting visible light in the
second manner is to output the visible light in a second emitting
direction different from the first emitting direction.
[0295] As one example, outputting the visible light in the first
manner is to output the visible light with a first light color. On
the other hand, outputting the visible light in the second manner
is to output the visible light with a second light color different
from the first light color.
[0296] Accordingly, the processor 170 may control the rear lamps
154 to output the visible light in the first manner or the second
manner, namely, in various manners.
[0297] For example, as illustrated in the left-hand portion of FIG.
9B, the processor 170 may control the rear lamps 154 to output the
visible light in a first direction d1 when the information sensed
through the sensing unit 160 meets a first condition. The first
condition, for example, may be a case where the rear vehicle 800
with the collision probability exceeding the reference value is
located at a first relative position.
[0298] As another example, as illustrated in the right-hand portion
of FIG. 9B, the processor 170 may control the rear lamps 154 to
output the visible light in a second direction d2, different from
the first direction d1, when the information sensed through the
sensing unit 160 meets a second condition, different from the first
condition. The second condition, for example, may be a case where
the rear vehicle 800 with the collision probability exceeding the
reference value is located at a second relative position different
from the first relative position.
[0299] The processor 170 may sense a relative position of the rear
vehicle 800 with respect to the vehicle 700 through the sensing
unit 160 (e.g., the camera module 200). Afterwards, the processor
170 may control the rear lamps 154 to output the visible light to
the rear vehicle based on the sensed relative position.
[0300] With the configuration, in some implementations, the rear
lamps may be controlled to output the visible light to the rear of
the vehicle even without the operation of the brake apparatus when
the information sensed through the sensing unit meets the preset
condition. As an example, the preset condition may correspond to
the collision probability exceeding a reference value.
[0301] In addition, some implementations may provide the rear lamps
which may be controlled to output the visible light in various
manners such that a danger may be notified to the rear vehicle in
an improved, optimized, or intuitive manner, and the control device
configured to control the rear lamps.
[0302] Also, some implementations may provide rear lamps configured
to provide a rear vehicle with more intuitively recognizable states
of the vehicle or relationships with the vehicle, by being
controlled to output the visible light in the different manner
according to the type of the condition, such as a preset condition,
associated with the emission of the visible light, even without the
operation of the brake apparatus, and the control device
controlling the rear lamps.
[0303] Hereinafter, further examples of implementations will be
described with reference to the accompanying drawings.
[0304] FIGS. 10 and 11 are diagrams illustrating one implementation
in accordance with some implementations.
[0305] The processor 170 may control the rear lamps 154 to output
visible light to the rear of the vehicle even without the operation
of the brake apparatus 153, when information (e.g., at least one or
a combination of vehicle-related information and vehicle
surrounding information) sensed through the sensing unit 160
corresponds to a preset condition.
[0306] In this instance, the processor 170 may control the rear
lamps 154 to output the visible light, even without the operation
of the brake apparatus 153, only when the first vehicle 800 is
sensed at the rear of the vehicle 700.
[0307] Hereinafter, a vehicle behind the vehicle 700 is referred to
as `rear vehicle` or `first vehicle.` Here, the vehicle behind the
vehicle 700 may include not only a vehicle which is located in a
straight line with the vehicle 700 right behind the vehicle 700,
but also a vehicle behind the vehicle 700 in a diagonal
direction.
[0308] For example, the first vehicle (or rear vehicle) 800 may
include one or more vehicles detected behind the vehicle 700.
[0309] The processor 170 may control the rear lamps 154 to emit
light even though the brake apparatus 153 is not operated, when
sensed information meets a preset condition, under assumption that
the first vehicle 800 is present behind the vehicle 700.
[0310] The detection of the first vehicle 800 behind the vehicle
700, for example, may refer to that the first vehicle 800 is sensed
at the rear of the vehicle 700 through the sensing unit 160.
[0311] For example, the processor 170 may control the rear lamps
154 to output the light even without the operation of the brake
apparatus 153, under assumption that the first vehicle 800 is
sensed at the rear of the vehicle 700.
[0312] According to this implementation, the processor 170 may not
control the rear lamps 154 to emit light without the operation of
the brake apparatus 153, when the first vehicle 800 is not sensed
at the rear of the vehicle 700 although the information sensed
through the sensing unit 160 meets the preset condition.
[0313] For example, when the information sensed through the sensing
unit 160 corresponds to the preset condition and the first vehicle
800 is sensed at the rear of the vehicle 700, the processor 170 may
control the rear lamps 154 to emit light even without the operation
of the brake apparatus 153.
[0314] The processor 170 may determine (decide, sense) presence or
absence of the first vehicle 800 behind the vehicle 700 by use of
the sensing unit 160.
[0315] In detail, the processor 170 may sense whether or not the
first vehicle 800 is present within a predetermined distance d from
the vehicle 700, by using at least one of an ultrasonic sensor, a
radar or a LiADAR included in the sensing unit 160, and the camera
200.
[0316] The predetermined distance d may be a distance which may be
sensed by a sensor for sensing a vehicle detected behind the
vehicle 700.
[0317] The predetermined distance d that the sensing unit 160 may
sense the rear vehicle may vary according to at least one of a type
of a sensor, a characteristic of the sensing unit 160, a
surrounding environment and a driving state of the vehicle 700.
[0318] The processor 170, as illustrated in FIG. 10, may determine
that the first vehicle 800 is present (sensed) behind the vehicle
700 when the first vehicle 800 is sensed through the sensing unit
160 within the predetermined distance d based on the vehicle
700.
[0319] The processor 170 may control the rear lamps 154 to output
the visible light to the rear of the vehicle 700, even without the
operation of the brake apparatus 153, when the information sensed
through the sensing unit 160 meets a preset condition only under
assumption that the first vehicle 800 is sensed at the rear of the
vehicle 700.
[0320] Meanwhile, the preset condition may be a case where
collision probability with the first vehicle 800 sensed at the rear
of the vehicle 700 exceeds a reference value.
[0321] In detail, when the collision probability P with the first
vehicle 800 sensed at the rear of the vehicle 700 exceeds the
reference value, the processor 170 may control the rear lamps 154
to output the visible light even without the operation of the brake
apparatus 153.
[0322] The processor 170 may calculate a relative distance and a
relative speed with the first vehicle 800 sensed at the rear side
of the vehicle 700, through the sensing unit 160.
[0323] The processor 170 may decide a time to collision (TTC) based
on the calculated relative distance and relative speed.
[0324] The collision probability P may be decided based on the
TTC.
[0325] The TTC may refer to a time which is predicted to be taken
until the first vehicle 800 sensed at the rear side of the vehicle
700 or a second vehicle 900 sensed from a front of the vehicle 700
collides with the vehicle 700.
[0326] For example, the collision probability P may be inversely
proportional to the TTC. When the TTC is shorter, the collision
probability P may increase more. Also, when the TTC is longer, the
collision probability P may be lowered more.
[0327] Also, the TTC may be reduced when a relative speed between
the rear vehicle and the vehicle 700 is fast, a relative distance
between the vehicle 700 and the rear vehicle is short, a weight of
the vehicle 700 is great or frictional force of a road surface is
weak.
[0328] In this instance, the collision probability P may increase
when the relative speed between the rear vehicle and the vehicle
700 is fast, the relative distance between the vehicle 700 and the
rear vehicle is short, the weight of the vehicle 700 is great or
the frictional force of the road surface is weak.
[0329] Also, the collision probability may refer to probability
that the first vehicle 800 sensed at the rear of the vehicle 700 is
to collide with the vehicle 700.
[0330] In this instance, that the collision probability exceeds the
reference value may refer to that the probability to collide with
the first vehicle 800 (rear vehicle) is higher than a preset
probability (reference).
[0331] For example, the processor 170 may calculate the collision
probability or collision risk with the rear vehicle based on
information sensed through the sensing unit 160. Also, the
processor 170 may control the rear lamps 154 to output the visible
light to the rear of the vehicle 700 even without the operation of
the brake apparatus 153 when it is determined that the collision
probability with the rear vehicle is more than a reference value or
the collision risk is more than a predetermined level (e.g., when
the collision probability exceeds a reference value).
[0332] The reference value, as aforementioned, may be defined based
on at least one of the collision probability or collision risk with
the first vehicle 800 (rear vehicle) or the TTC.
[0333] The reference value may be preset or changed by a user or
the processor 170.
[0334] Also, the collision probability may vary according to a
surrounding state of the vehicle sensed through the sensing unit
160 (e.g., a state of a road surface, frictional force, the
weather, a surrounding environment, etc.).
[0335] The processor 170 may decide the collision probability P,
considering the surrounding state of the vehicle sensed through the
sensing unit 160 as well as the TTC.
[0336] For example, even though a relative distance with the rear
vehicle and a relative speed with the rear vehicle are the same as
those of the vehicle 700, when frictional force is reduced due to a
wet road surface on which the vehicle 700 is currently driven, the
collision probability may increase.
[0337] As another example, even though the relative distance with
the rear vehicle and the relative speed with the rear vehicle are
the same as those of the vehicle 700, when the frictional force of
the driving road surface is high, the collision probability may be
lowered.
[0338] So far, the collision probability has been described in
relation to the rear vehicle, but implementations are not limited
to this. For example, the description of the collision probability
will be equally/similarly applied even to collision probability
with the front vehicle 900 sensed at the front side of the vehicle
700.
[0339] Some implementations may calculate collision probability
that the rear vehicle 800 and the vehicle 700 are to collide with
each other and control the rear lamps 154 to output the visible
light to the rear of the vehicle even without the operation of the
brake apparatus 153 based on the collision probability (e.g., when
the collision probability exceeds the reference value).
[0340] Meanwhile, the processor 170 may differently control at
least one of an emission angle of the visible light of the rear
lamps, an emission time point of the rear lamp, brightness of
emitted light of the rear lamps, an emission period of the rear
lamps, an emitting direction of the rear lamps, and a light color
of the rear lamps, on the basis of the collision probability, when
the collision probability exceeds the reference value.
[0341] The processor 170 may control the rear lamps to emit light
at a faster time point than a preset time point when the collision
probability is higher.
[0342] For example, when the collision probability with the first
vehicle 800 sensed at the rear of the vehicle 700 corresponds to
P1, as illustrated in FIG. 11, the processor 170 may control the
rear lamps 154 to emit the light at a first time point T1 even
without the operation of the brake apparatus 153.
[0343] Here, the collision probability P1 may be collision
probability corresponding to a preset condition that the rear lamps
emit light even without the operation of the brake apparatus.
[0344] Also, the first time point T1 may be a preset time point,
for example. Here, the preset time point may be a time point which
is preset such that the rear lamps 154 may emit light even without
the operation of the brake apparatus 153 when information sensed
through the sensing unit 160 meets a preset condition.
[0345] The first time point T1 (preset time point) may be decided
(or changed) by the user or under the control of the processor
170.
[0346] Meanwhile, when the collision probability with the first
vehicle 800 sensed at the rear of the vehicle 700 corresponds to P2
higher than P1, as illustrated in FIG. 11, the processor 170 may
control the rear lamps 154 to emit the light at a second time point
T2 faster than the first time point T1 (preset time point) even
without the operation of the brake apparatus 153.
[0347] The processor 170 may control the rear lamp 154 to emit
brighter light when the collision probability with the first
vehicle 800 sensed at the rear of the vehicle 700 is higher.
[0348] In detail, referring to FIG. 11, the processor 170 may
control the rear lamps 154 to emit light with a first brightness B1
when the collision probability is the first value P1.
[0349] Also, the processor 170 may control the rear lamps 154 to
emit light with a second brightness B2 higher than the first
brightness B1 when the collision probability is the second value P2
greater than the first value P1.
[0350] The processor 170 may control the rear lamps 154 to emit
light at a narrower emission angle (or to face a driver of the rear
vehicle 800 at a narrower emission angle) when the collision
probability with the first vehicle 800 sensed at the rear of the
vehicle 700 is higher (this will be understood by equally/similarly
applying the description of FIG. 9A.).
[0351] Also, the processor 170 may reduce a lighting period (e.g.,
the emission period of the rear lamps 154) at which the rear lamps
154 are turned on/off when the collision probability with the first
vehicle 800 sensed at the rear of the vehicle 700 is high.
[0352] The processor may also control the rear lamps 154 to emit
light with a color associated with the collision probability on the
basis of the collision probability with the first vehicle 800
sensed at the rear of the vehicle 700. For example, when the
collision probability is a first value, the rear lamps may output
visible light with a first color associated with the first value.
On the other hand, when the collision probability is a second value
different from the first value, the rear lamps 154 may output
visible light with a second color associated with the second
value.
[0353] The processor 170 may detect a relative position with the
first vehicle 800 sensed at the rear of the vehicle 700 through the
sensing unit 160. Afterwards, the processor 170 may control an
emitting direction of the rear lamps 154 such that visible light
may be emitted toward the sensed first vehicle 800 (this will be
understood by equally/similarly applying the description of FIG.
9B).
[0354] The foregoing description has been given of the example in
which the rear lamps 154 emit the visible light even without the
operation of the brake apparatus 153 when the collision probability
corresponds to a preset condition.
[0355] However, implementations are not limited to this. Some
implementations may alternatively control the rear lamps in a
different manner according to the collision probability with the
rear vehicle 800 when the brake apparatus 153 is operated. In this
instance, some implementations may control the rear lamps in
various manners according to the collision probability with the
rear vehicle 800 when the brake apparatus 153 is operated, and the
various manners will be equally/similarly understood by the
foregoing description.
[0356] Also, the control method of the rear lamps according to some
implementations may employ various manners without the limit to the
aforementioned. For example, if the various manners correspond to
the structure of differently controlling the rear lamps according
to the collision probability with the rear vehicle, the various
manners will be interpreted as belonging within the scope of this
disclosure.
[0357] As aforementioned, the collision probability may be decided
based on the TTC which is decided on the basis of the relative
distance and relative speed with the first vehicle 800 sensed at
the rear of the vehicle 700.
[0358] With the configuration, some implementations may warn the
rear vehicle of a risk by turning on the rear lamps even without
the operation of the brake apparatus 153, when the collision
probability with the rear vehicle exceeds a reference value.
[0359] Also, some implementations may warn a driver of the rear
vehicle in an improved manner and thus enhance accident prevention
by controlling the rear lamps in various manners based on the
collision probability exceeding a reference value.
[0360] Meanwhile, some implementations may control the rear lamps
154 even without the operation of the brake apparatus 153, by
considering a vehicle sensed from the rear of the vehicle 700 and a
vehicle sensed from the front of the vehicle 700.
[0361] Hereinafter, the related implementation will be described
with reference to the accompanying drawings.
[0362] FIGS. 12, 13, and 14 are diagrams illustrating examples of
controlling rear lamps, considering both front and rear
vehicles.
[0363] The processor 170 disclosed herein may control the rear
lamps 154 to output the visible light even without the operation of
the brake apparatus 153, when vehicles are sensed from rear and
front sides of the vehicle 700, respectively.
[0364] As aforementioned, the processor 170 may control the rear
lamps 154 to emit light even without the operation of the brake
apparatus 153 when information sensed through the sensing unit 160
corresponds to a preset condition, under assumption that the first
vehicle 800 is sensed at the rear of the vehicle 700.
[0365] Meanwhile, as illustrated in FIG. 12, the processor 170 may
also consider a second vehicle 900 sensed at the front of the
vehicle 700 as well as the first vehicle 800 sensed at the rear of
the vehicle 700.
[0366] For example, the processor 170 may control the rear lamps
154 to output light even without the operation of the brake
apparatus 153 when the information sensed through the sensing unit
160 meets a preset condition (e.g., when information related to the
first vehicle 800 sensed at the rear of the vehicle 700 and
information related to the second vehicle 900 sensed at the front
of the vehicle 700 meet the preset condition).
[0367] The following description will be given of various
implementations of a case where the second vehicle 900 is sensed at
the front of the vehicle 700 after the first vehicle 800 is sensed
at the rear of the vehicle 700. For example, even considering the
second vehicle 900 sensed at the front of the vehicle 700, in order
for the rear lamps 154 to output light even without the operation
of the brake apparatus 153, it should be assumed that the first
vehicle 800 is sensed at the rear of the vehicle 700.
[0368] Referring to FIG. 12, the processor 170 may sense the second
vehicle 900 which is present at the front of the vehicle 700, by
use of the sensing unit 160.
[0369] The second vehicle 900 present at the front of the vehicle
700 may also be referred to as a front vehicle.
[0370] The processor 170 may sense information related to the
second vehicle 900 using the sensing unit 160. For example, the
processor 170 may sense a relative distance between the vehicle 700
and the second vehicle 900 (a relative distance with the second
vehicle 900), a relative speed between the vehicle 700 and the
second vehicle 900 (a relative speed with the second vehicle 900),
and the like, through the sensing unit 160.
[0371] Afterwards, the processor 170 may calculate collision
probability Q3 with the second vehicle 900, on the basis of the
relative distance and the relative speed with the second vehicle
sensed at the front of the vehicle 700.
[0372] The processor 170 may calculate the relative distance and
the relative speed with the second vehicle 900 sensed at the front
of the vehicle 700 through the sensing unit 160, and decide the
time to collision (TTC) with the second vehicle 900 based on the
calculated relative distance and relative speed.
[0373] The collision probability Q3 may be decided based on the TTC
between the vehicle 700 and the second vehicle 900 (front
vehicle).
[0374] As aforementioned, the collision probability Q3 with the
second vehicle 900 may vary according to a surrounding state (e.g.,
a state of a road surface, frictional force, the weather, a
surrounding environment, etc.) of the vehicle 700 sensed through
the sensing unit 160.
[0375] The processor 170 may decide the collision probability Q3 by
considering both of the TTC and the surrounding state of the
vehicle sensed through the sensing unit 160.
[0376] Similarly, the processor 170 may sense the first vehicle 800
at the rear of the vehicle 700 through the sensing unit 160, and
decide collision probability P3 with the first vehicle 800. The
collision probability with the first vehicle 800 (rear vehicle)
will be understood by the foregoing description.
[0377] Hereinafter, the collision probability P3 with the first
vehicle 800 sensed at the rear of the vehicle 700 is referred to as
a first collision probability.
[0378] Also, the collision probability Q3 with the second vehicle
900 sensed at the front of the vehicle 700 is referred to as a
second collision probability.
[0379] The processor 170 may decide whether or not to turn on the
rear lamps 154 even without the operation of the brake apparatus
153, on the basis of the first collision probability P3 with the
first vehicle 800 sensed at the rear of the vehicle 700 and the
second collision probability Q3 with the second vehicle 900 sensed
at the front of the vehicle 700.
[0380] As one example, the processor 170 may control the rear lamps
154 to output light even without the operation of the brake
apparatus 153, as illustrated in FIGS. 9A to 11, on the basis of
the collision probability with the first vehicle 800 sensed at the
rear of the vehicle 700, irrespective of the second vehicle 900
sensed at the front of the vehicle 700.
[0381] As one example, as illustrated in FIG. 13, when the second
collision probability Q3 with the second vehicle 900 sensed at the
front of the vehicle 700 exceeds a reference value, the processor
170 may control the rear lamps 154 to output light even without the
operation of the brake apparatus 153, irrespective of the first
collision probability P3', P3'' sensed at the rear of the vehicle
700.
[0382] For example, there may be a case where the collision
probability (or a TTC) with the second vehicle 900 sensed at the
front of the vehicle 700 is greater than a preset value (e.g., when
an accident is inevitable). In this instance, the processor 170 may
control the rear lamps 154 to output visible light to the rear of
the vehicle 700 even without the operation of the brake apparatus
153, irrespective of the first collision probability between the
first vehicle 800 and the vehicle 700, so as to notify a warning
signal to the first vehicle 800 sensed at the rear of the vehicle
700.
[0383] In detail, when the second collision probability Q3 with the
second vehicle 900 sensed at the front of the vehicle 700 exceeds a
reference value (e.g., when a preset condition is met), the
processor 170 may control the rear lamps 154 to output the visible
light to the rear of the vehicle 700 even without the operation of
the brake apparatus 153, irrespective of whether the first
collision probability with the first vehicle 800 sensed at the rear
of the vehicle 700 does not exceed a reference value (P3') or
exceeds a reference value (P3'').
[0384] Meanwhile, when the second collision probability Q3 with the
second vehicle 900 sensed at the front of the vehicle 700 exceeds
the reference value, the processor 170 may control the rear lamps
154 to output the visible light even without the brake apparatus
153, in response to the first vehicle 800 being sensed at the rear
of the vehicle 700. However, implementations are not limited to
this. When the second collision probability Q3 exceeds the
reference value, the processor 170 may alternatively control the
rear lamps 154 to emit the visible light, even without the
operation of the brake apparatus 153, although the first vehicle
800 is not sensed at the rear of the vehicle 700.
[0385] The processor 170 may differently control at least one of an
emission angle of visible light of the rear lamps, an emission time
point of the rear lamp, brightness of emitted light of the rear
lamps, an emission period of the rear lamps, an emitting direction
of the rear lamps, and a light color of the rear lamps, on the
basis of the second collision probability with the second vehicle
900 sensed at the front of the vehicle 700.
[0386] This will be understood by equally/similarly applying the
description of FIG. 11. For example, the processor 170 may reduce
the emission angle of the visible light, set the emission time
point to an earlier time, increase the brightness of the emitted
light, and/or shorten the emission period, when the second
collision probability Q3 with the second vehicle 900 is high.
[0387] With the configuration, some implementations may provide a
control method of preventing a chain collision by controlling the
rear lamps to output light even without the operation of the brake
apparatus, irrespective of the collision probability with the first
vehicle sensed at the rear of the vehicle 700, when the collision
probability with the front vehicle exceeds the reference value.
[0388] As one example, the processor 170 may sense light output
from the second vehicle 900, which is sensed at the front of the
vehicle 700, through the sensing unit 160. Here, the light emitted
from the second vehicle 900 may be light emitted from brake lamps
output from the second vehicle 900.
[0389] The processor 170 may also decide a relative distance with
the first vehicle 800, which is sensed at the rear of the vehicle
800, through the sensing unit 160.
[0390] Afterwards, the processor 170 may control the rear lamps 154
to emit light even without the operation of the brake apparatus
153, when the emission of light from the second vehicle 900 located
at the front of the vehicle 700 is sensed and the relative distance
with the first vehicle 800 sensed at the rear of the vehicle 700 is
within a reference distance (corresponding to a preset
condition).
[0391] For example, the processor 170 may control the rear lamps
154 to output light even without the operation of the brake
apparatus 153 when the relative distance with the first vehicle 800
(rear vehicle) is within the reference distance after visible light
output from the brake lamps of the second vehicle (front vehicle)
900 is sensed.
[0392] As another example, the processor 170 may control the rear
lamps 154 to output light even without the operation of the brake
apparatus 153 when the visible light output from the brake lamps
(rear lamps) of the second vehicle (front vehicle) 900 is sensed in
a state that the relative distance with the first vehicle (rear
vehicle) 800 is within the reference distance.
[0393] The reference distance may refer to a preset relative
distance between the vehicle 700 and the rear vehicle 800 for
allowing the rear lamps 154 to output light even without the
operation of the brake apparatus 153 when the brake lamps of the
front vehicle 900 are turned on (when light emission from the front
vehicle is sensed).
[0394] The reference distance may be set or varied by a user
setting or the processor 170. Also, the reference distance may be
decided or varied based on at least one of the collision
probability with the first vehicle and the collision probability
with the second vehicle.
[0395] In this instance, the processor 170 may control the rear
lamps 154 to output visible light in a different manner, based on
at least one of the second collision probability with the second
vehicle (front vehicle) and the first collision probability with
the first vehicle (rear vehicle).
[0396] For example, the processor 170 may differently control at
least one of an emission angle of visible light of the rear lamps,
an emission time point of the rear lamp, brightness of emitted
light of the rear lamps, an emission period of the rear lamps, an
emitting direction of the rear lamps, and a light color of the rear
lamps, on the basis of at least one of the second collision
probability with the second vehicle (front vehicle) and the first
collision probability with the first vehicle (rear vehicle).
[0397] This will be understood by equally/similarly applying the
foregoing description of FIGS. 11 to 13.
[0398] With the configuration, some implementations may reduce an
accident occurrence by warning the driver of the rear vehicle
before the brake apparatus is operated, when the brake lamps of the
front vehicle sensed at the front of the vehicle 700 are turned on
under assumption that the rear vehicle sensed at the rear of the
vehicle 700 that is within the reference distance.
[0399] Meanwhile, the processor 170 of the control device 100 may
calculate the second collision probability with the second vehicle
900 sensed at the front of the vehicle 700, based on information
sensed through the sensing unit 160.
[0400] The processor 170 may output (or generate) a forward
collision warning (FCW) when the second collision probability with
the second vehicle 900 sensed at the front of the vehicle 700
corresponds to a first value. The forward collision warning may be
output through at least one of the output unit 740 of the vehicle
700, the output unit 150 of the control device 100 and the display
device 400.
[0401] Meanwhile, the processor 170 may operate the brake apparatus
153 to perform the automatic emergency braking (AEB) when the
second collision probability corresponds to a second value greater
than the first value.
[0402] For example, if it is assumed that the second collision
probability is the TTC, as illustrated in FIG. 14, the forward
collision warning (FCW) may be output when the TTC corresponds to a
first time t1. Also, the AEB may be performed when the TTC
corresponds to a second time t2 which is shorter than the first
time t1.
[0403] For example, the processor 170 may output the forward
collision warning when the collision probability with the front
vehicle corresponds to the first value, and perform the AEB when
the collision probability with the front vehicle corresponds to the
second value greater than the first value (e.g., increases
more).
[0404] The processor 170 may sequentially perform the forward
collision warning (FCW) and the automatic emergency braking (AEB)
as the collision probability increases.
[0405] In the related art, when the forward collision warning is
output, the rear lamps 154 are not turned on because the brake
apparatus 153 is not operated. Also, when the AEB is performed, the
rear lamps 154 are turned on because the brake apparatus 153 is
operated.
[0406] For example, the rear lamps 154 may output light in response
to the AEB being performed.
[0407] Meanwhile, the processor 170 may control the rear lamps 154
to emit light even without the operation of the brake apparatus 153
at the generation time point of the forward collision warning
(FCW), before the AEB is performed, when the first collision
probability with the first vehicle 800 sensed at the rear of the
vehicle 700 exceeds the reference value.
[0408] For example, the processor 170 may control the rear lamps
154 to output visible light to the rear of the vehicle even though
the collision probability with the front vehicle corresponds to the
first value generating the forward collision warning (e.g., even
without the operation of the brake apparatus 153) when the
collision probability with the rear vehicle exceeds the reference
value.
[0409] In this instance, the processor 170 may differently control
at least one of an emission angle of visible light of the rear
lamps, an emission time point of the rear lamp, brightness of
emitted light of the rear lamps, an emission period of the rear
lamps, an emitting direction of the rear lamps, and a light color
of the rear lamps, on the basis of the first collision probability
with the first vehicle 800 sensed at the rear of the vehicle 700 at
the generation time point of the forward collision warning
(FCW).
[0410] This will be understood by equally/similarly applying the
foregoing description of FIG. 11.
[0411] For example, the processor 170 may reduce the emission
angle, set the emission time point to an earlier time, increase the
brightness of the emitted light, and/or shorten the emission
period, when the first collision probability with the first vehicle
800 increases more at the generation time point of the FCW.
[0412] Afterwards, the processor 170 may perform the AEB when the
collision probability with the front vehicle (second vehicle) 900
corresponds to the second value in the state that the rear lamps
154 emit light even without the operation of the brake apparatus
153. In this instance, the processor 170 may control the rear lamps
154 to output light with higher brightness than a preset brightness
when the AEB is performed.
[0413] With the configuration, some implementations may provide a
control device configured to warn a risk to a driver of the rear
vehicle in advance or at particular time point by controlling the
rear lamps to output light even without the operation of the brake
apparatus at the generation time point of the forward collision
warning (FCW), when the collision probability with the rear vehicle
exceeds the reference value although the collision probability with
the front vehicle is not as high as having to perform the AEB. In
some implementations, the particular time point may be determined
to enhance or optimize safety of the vehicle.
[0414] Meanwhile, when the FCW is generated in response to the
second collision probability with the second vehicle 900 sensed at
the front of the vehicle 700 corresponding to the first value in a
state that the first vehicle 800 is sensed at the rear of the
vehicle 700, the processor 170 may control the rear lamps 154 to
output light even without the operation of the brake apparatus 153,
irrespective of the first collision probability with the first
vehicle 800.
[0415] For example, the processor 170 may control the rear lamps
154 to output light even without the operation of the brake
apparatus 153, under assumption that the first vehicle 800 is
sensed at the rear of the vehicle 700, when the second collision
probability with the second vehicle 900 sensed at the front of the
vehicle 700 corresponds to the first value generating the FCW.
[0416] In this instance, the processor 170 may differently control
at least one of an emission angle of visible light of the rear
lamps, an emission time point of the rear lamp, brightness of
emitted light of the rear lamps, an emission period of the rear
lamps, an emitting direction of the rear lamps, and a light color
of the rear lamps, on the basis of the second collision probability
with the second vehicle 900 (e.g., the TTC with the second vehicle
900) which is calculated from after the generation time point of
the FCW.
[0417] Besides, the processor 170 may sense an accident occurred at
the front of the vehicle 700 through the sensing unit 160 (or the
camera module 200) and the communication unit 110.
[0418] For example, the processor 170 may sense an accident
occurred at the front of the vehicle 700 based on specific
information (e.g., information notifying the accident occurred at
the front) when the specific information is received from another
vehicle, from which an accident has occurred, through the
communication unit 110.
[0419] When the first vehicle 800 is sensed at the rear of the
vehicle 700 after the accident is sensed, the processor 170 may
control the rear lamps 154 to output light even without the
operation of the brake apparatus 153.
[0420] In this instance, the processor 170 may differently control
at least one of an emission angle of visible light of the rear
lamps, an emission time point of the rear lamp, brightness of
emitted light of the rear lamps, an emission period of the rear
lamps, an emitting direction of the rear lamps, and a light color
of the rear lamps, on the basis of at least one of a relative
distance between a sensed accident-occurred location and the
vehicle 700, a driving speed of the vehicle 700, the collision
probability with the first vehicle 800 and a surrounding state.
[0421] Meanwhile, some implementations may variously control the
rear lamps according to an external environment. FIG. 15 is a
diagram illustrating a method of controlling rear lamps based on an
external light source in accordance with some implementations.
[0422] As illustrated in FIG. 15, the processor 170 may sense a
surrounding state of the vehicle 700 through the sensing unit 160.
In this instance, the surrounding state of the vehicle 700 may
include a relative location of an external light source 1500 (e.g.,
the sun, a road lamp, a light source of another vehicle, etc.),
brightness (or an amount of light) of the external light source
1500, the weather, light transmittance and the like.
[0423] The processor 170 may differently control the brightness of
visible light emitted from the rear lamps 154 even without the
operation of the brake apparatus 153, on the basis of the location
of the first vehicle 800 and the location of the external light
source 1500 when the first vehicle 800 is sensed at the rear of the
vehicle 700.
[0424] For example, as illustrated in the upper portion of FIG. 15,
when the external light source 1500, the vehicle 700 and the first
vehicle (rear vehicle) 800 are arranged in a straight line, the
processor 170 may control the rear lamps 154 to output light with
higher brightness than brightness of light that is emitted from the
rear lamps 154 when those are not arranged in a straight line.
[0425] As another example, as illustrated in the lower portion of
FIG. 15, the processor 170 may more increase the brightness of the
visible light emitted from the rear lamps 154 even without the
operation of the brake apparatus 153, when an angle .theta. between
the external light source 1500 and the driving road surface is
smaller based on the vehicle 700. However, implementations are not
limited to this, and the processor 170 may increase more the
brightness when the angle .theta. is greater, and the related
configuration will be decided or changed by the user.
[0426] As another example, when it is sensed through the sensing
unit 160 that the vehicle 700 is driven through the mist or in the
rain or snow, the processor 170 may differently control the
brightness of the visible light output from the rear lamps 154 even
without the operation of the brake apparatus 153.
[0427] For example, the processor 170 may control the rear lamps
154 to output brighter visible light based on the sensing
result.
[0428] With the configuration, some implementations may provide the
control method that controls the rear lamps to output visible light
in an improved or optimized manner, considering the surrounding
environment, when the rear lamps emit light even without the
operation of the brake apparatus.
[0429] The aforementioned control device 100 may be included in the
vehicle 700.
[0430] Also, the operation or control method of the control device
100 described above may be equally/similarly applied as the
operation or control method of the vehicle 700.
[0431] For example, a control method of a vehicle, which includes a
sensing unit, a brake apparatus, and rear lamps that emit visible
light to the rear of the vehicle in response to an operation of the
brake apparatus, may include sensing at least one of information
related to the vehicle and surrounding information related to the
vehicle through the sensing unit, and controlling the rear lamps to
output visible light to the rear of the vehicle even without the
operation of the brake apparatus when the information sensed
through the sensing unit meets a preset condition.
[0432] Each of the steps may be performed by the controller 770
provided in the vehicle 700.
[0433] Here, the controlling the rear lamps may be configured to
control the rear lamps to output the visible light in a different
manner, on the basis of different information sensed through the
sensing unit, in a state that the brake apparatus is not
operated.
[0434] In detail, the controlling the rear lamps may be configured
to control the rear lamps to output the visible light in a first
manner when the information sensed through the sensing unit
corresponds to a first condition as the preset condition.
[0435] Also, the controlling the rear lamps may be configured to
control the rear lamps to output the visible light in a second
manner different from the first manner, when the information sensed
through the sensing unit corresponds to a second condition
different from the first condition as the preset condition.
[0436] The aforementioned steps will be understood by
equally/similarly applying the description of FIGS. 6 to 9B.
[0437] Also, the controlling the rear lamps may be performed under
assumption that a first vehicle is sensed at the rear of the
vehicle.
[0438] Also, the controlling the rear lamps may be configured to
control the rear lamps to output the visible light even without the
operation of the brake apparatus when other vehicles are sensed at
both of the front and rear of the vehicle.
[0439] The aforementioned step will be understood by
equally/similarly applying the description of FIGS. 10 to 15.
[0440] Summarizing this, the vehicle 700 may include the control
device 100 that controls the rear lamps to output light even
without the operation of the brake apparatus when the information
sensed through the sensing unit meets a preset condition.
[0441] Also, every function, configuration or control method
performed by the control device 100 may be performed by the
controller 770 provided in the vehicle 700. For example, every
control method described in this specification may also be applied
to the control method of the vehicle and the control method of the
control device.
[0442] Meanwhile, the rear lamps 154 may be configured to output
information. For example, the information may be at least one of
text, a character, a figure, an image, a video and a page.
[0443] The rear lamp 154, for example, may be a device on which
information may be output, and implemented by a combination of at
least one or at least two of an OLED, an LED and a laser diode
(LD).
[0444] The processor 170 may output various information through the
displayable rear lamps 154.
[0445] For example, when the user requests for turning on a turn
indicator lamp, the processor 170 may control the rear lamps 154 to
output information (text, image or figure) corresponding to the
turn-on of the requested turn indicator lamp.
[0446] Meanwhile, the processor 170 may output various information
through the rear lamps 154 even without the operation of the brake
apparatus when information sensed through the sensing unit 160
meets a preset condition.
[0447] For example, when the sensed information meets a preset
condition (e.g., when collision probability with the rear vehicle
exceeds a reference), the processor 170 may output information
(e.g., a bar-like figure image) corresponding to a brake lamp even
without the operation of the brake apparatus.
[0448] When the information corresponding to the brake lamp is
output in the form of the bar-like figure image, the processor 170
may output the information in various manners according to a type
of the sensed information.
[0449] For example, the bar-like figure image may extend in a
widthwise direction of the vehicle.
[0450] The processor 170, for example, may output the bar-like
figure image longer as the collision probability with a rear
vehicle (or front vehicle) increases more.
[0451] However, implementations are not limited to this, and the
information related to the brake lamp may employ various figure
images.
[0452] The processor 170 may more increase a size of the figure
image output through the rear lamps 154 as the collision
probability with the rear vehicle or front vehicle increases more,
in case where the collision probability with the rear vehicle (or
the front vehicle) exceeds a reference value.
[0453] Some implementations may include the rear lamps 154 through
which information may be output, and may effectively notify
collision probability with the vehicle disclosed herein to a user
of a rear vehicle, by varying information (figure image)
corresponding to a brake lamp as the collision probability with the
rear vehicle or front vehicle increases more.
[0454] Some implementations may be implemented as computer-readable
codes in a program-recorded medium. The computer-readable medium
may include all types of recording devices each storing data
readable by a computer system. Examples of such computer-readable
media may include hard disk drive (HDD), solid state disk (SSD),
silicon disk drive (SDD), ROM, RAM, CD-ROM, magnetic tape, floppy
disk, optical data storage element and the like. Also, the
computer-readable medium may also be implemented as a format of
carrier wave (e.g., transmission via an Internet). The computer may
include the controller 180 of the terminal. Therefore, it should
also be understood that the above-described implementations are not
limited by any of the details of the foregoing description, unless
otherwise specified, but rather should be construed broadly within
its scope as defined in the appended claims, and therefore all
changes and modifications that fall within the metes and bounds of
the claims, or equivalents of such metes and bounds are therefore
intended to be embraced by the appended claims.
* * * * *